Bennybot Controller Pinout
|Board Pin Number||Arduino Pin Number||STM32 Pin Number||Description|
|IO6||D5/A3||PA7||GPIO/SPI MOSI/PWM/ANALOG INPUT (0-3.3v)|
|IO7||D6/A4||PA6||GPIO/SPI MISO/PWM/ANALOG INPUT (0-3.3v)|
|IO8||D7/A5||PA7||GPIO/SPI SCK/PWM/ANALOG INPUT (0-3.3v)|
|MOTOR 1 PWM||D11||PB1||PWM|
|MOTOR 1 Direction||D9||PA4||GPIO|
|MOTOR 2 PWM||D10||PA1||PWM|
|MOTOR 2 Direction||PA0||D8||GPIO|
(*) These pins are normally connected to a bluetooth module (if installed) via jumpers SJ1 and SJ2 on the bottom of your bennyboard. If you want to use these pins and disable the bluetooth module then you need to cut the tracks on those jumpers. You can close them again with a bit of solder to enable the bluetooth module.
Connecting the Motors
Your bennyboard has a motor driver onboard (marked as MTRDRV). You can connect two motors directly to your bennyboard at the MTR1 and MTR2 connections.
Your bennyboard can be powered in 2 ways, either via usb or direct battery/power supply connection. The PWRSEL header can be used to switch between the two. To select usb power place a jumper closest to the 1 designation, or to power from batteries/power supply place the jumper the furthest away from the 1 designation on the PWRSEL header.
For powering the board via usb, connect a usb cable between your computer and your bennyboard using the usb connector. Place your PWRSEL jumper closes to the 1 designation. The PWR led will light up when it is powered.
Note: USB power does not provide enough current for powering the motors so it doesn’t provide any power to the motors when you are powering the board from usb.
For powering from a power supply or a battery pack, connect your power to the VIN and GND connection. Make sure you that you connect the positive (+) lead of your power supply/battery to VIN and the negative (-) lead of your power supply/battery to GND.
Note: The voltage you apply need to be within 3.5v and 9v. Anything more than that and you will damage the board.
Instead of using a jumper you can also connect a switch to the PWRSEL header for easy switching of your power supply.