Bennybot Controller Pinout

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Bennyarduinopinout.jpg

Pin Definitions

Board Pin Number Arduino Pin Number STM32 Pin Number Description
IO1 D0 PF0 GPIO/I2C SDA
IO2 D1 PA2 GPIO/UART (*)
IO3 D2 PA3 GPIO/UART (*)
IO4 D3 PF1 GPIO/I2C SCL
IO5 D4 PA13 GPIO
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)
LED D13 PA14 GPIO
BUTTON D12 PB8 GPIO
MOTOR 1 PWM D11 PB1 PWM
MOTOR 1 Direction D9 PA4 GPIO
MOTOR 2 PWM D10 PA1 PWM
MOTOR 2 Direction PA0 D8 GPIO


Notes

(*) 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

Bennypinoutcolor.png

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.

Connecting Batteries/Power

Bennypinoutcolor.png

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.