POD C32 - (SPI Master) ---------------- N.C. N.C.

Connection Confirm (in) E0 AD0 Gripper Toggle (in) E1 AD1 Light 3 LED (out) T7 AD2 Light 2 LED (out) T6 AD3 Light 1 LED (out) T5 AD4 Charging LED (out) T4 AD5 Roamer3 Select LED (out) T3 AD6 Roamer2 Select LED (out) T2 AD7 Roamer1 Select LED (out) T1 M5 Servo0 BatteryLife (out) T0 M4 ~Audio Control (out) M0 M3 Vibration Control (out) M1 M2 GND GND GND Ribbon Goes -> ---------------(in) ADC0 Steering (in) ADC1 Gas Pedal (in) ADC2 Reverse Pedal (in) ADC3 Gripper Slider (in) ADC4 Camera Knob (in) Light 1 Control (in) Light 2 Control (in) Light 3 Control (out) SPI SCK (out) SPI MOSI (out) SPI SS (in) SPI MISO GND ---------------- N.C. N.C. PU7 GND PU6 PU5 Servo0 (IOC04) Gripper (out) PT0 PU4 Servo1 (IOC05) Grip Slide (out) PT1 PU3 Servo2 (IOC07) Camera (out) PT2 PU2 PT3 PU1 PT4 PU0 PT5 PE7 PT6 PT7 PE0 PE1 ---------------- N.C. N.C. Ribbon Goes -> ---------------GND

ROAMER E128 - (SPI Slave) GND GND GND GND SPI SS (in) PS7 SCI1 RXD SPECIAL (in) PS2 PP5 SPI SCK (in) PS6 SCI1 TXD SPECIAL (out) PS3 PP4 GND GND PP2 PP3 SPI MOSI (in) PS5 PP0 PP1 SPI MISO (out) PS4 L Dig Pin (out) PAD0 PAD4 <- Key PAD1 PAD5 (out) R Dig Pin PAD2 PAD6 PAD3 PAD7 GND GND GND GND <- Ribbon Goes

(out) PWM2 Left (out) PWM1 Right

----------------

POD Pic - (SPI Slave) +5V CLK IN CLK OUT ~MCLR ~Disconnect Select (in) Auxiliary4 (in) Auxiliary3 (in) SPI ~SS (in) SPI SDO (MISO) (out) EUSART TX (out) VDD RA5 RA4 RA3 RC5 RC4 RC3 RC6 RC7 RB7 VSS RA0 RA1 RA2 RC0 RC1 RC2 RB4 RB5 RB6 GND (in) ~Roamer1 Select (in) ~Roamer2 Select (in) ~Roamer3 Select (in) Auxiliary0 (in) Auxiliary1 (in) Auxiliary2 (in) SPI SDI (MOSI) (in) EUSART RX (in) SPI SCK

ROAMER Pic - (SPI Master) VDD RA5 RA4 RA3 RC5 RC4 RC3 SPI E128 SS (out) RC6 SPI SDO (MOSI) (out) RC7 EUSART TX (out) RB7 +5V CLK IN CLK OUT ~MCLR VSS RA0 RA1 RA2 RC0 RC1 RC2 RB4 RB5 RB6 GND (in) Roamer1 Select (in) Roamer2 Select

SPECIAL Pic - (SPI Master) +5V VDD RA5 RA4 ~MCLR RA3 RC5 SPI SPECIAL SS (out) RC4 RC3 RC6 SPI SDO (MOSI) (out) RC7 EUSART TX (out) RB7 VSS RA0 RA1 RA2 RC0 RC1 RC2 RB4 RB5 RB6 GND

(out) output test (in) SPI SDI (MISO) (in) EUSART RX (out) SPI SCK

(in) SPI SDI (MISO) (in) EUSART RX (out) SPI SCK

SPI Protocol (C32 - Xbee PIC) from Master C32 from Slave PIC Connect (0x00) 0xFF Command (0x02) Left Wheel Right Wheel Gripper Camera Digital I/Os (LEDs only) 0xFF Battery % Status LEDs Last Camera WhichRoamer

SPI Protocol (Xbee PIC - E128) from Master PIC from Slave E128 0xFE 0xFD Left Wheel Battery % Right Wheel Status Gripper LEDs Camera Last Camera Digital I/Os 0x00

SCI Protocol (E128 - SPECIAL PIC) from ROAMER E128 From SPECIAL PIC ---------------0x80 (discharge) ---------------Battery % Activate LEDs: 0x00~0x07 ------------------------------LED Status: 0x00~0x07 ------------------------------Activate LEDs: 0x00~0x07 ---------------0x81 (charging) Battery % ---------------LED Status: 0x00~0x07