Devices

Device	Quantity	Links	Comment
Main board	1	Board	Teensy 3.2
Motor 30A fuse	1	Axial fuse
5V regulator	1	Regulator	Murata OKI78SR5/1.5W36C
Regulator 1A fuse	1	Fuse Fuse holder
Encoder	2	Encoder
Motor driver	2 channels	Driver Motors
Limit switch	4		With debounce system
GP2	6
CAN	1	Transceiver
UART	2
I2C	1
Debug LED	3	LED	Green LED
Pull	1		With debounce system
Power LED	2	LED	Red LED (one for +15V, one for +5V)

Pin mapping

Board pin	µC pin index	µC pin name	Mode	I/O	Feature
0	39	PTB16	UART0_RX	I	UART 0 input
1	40	PTB17	UART0_TX	O	UART 0 output
2	57	PTD0	PTD0	I	Pull
3	28	PTA12	CAN0_TX	O	CAN ouput
4	29	PTA13	CAN0_RX	I	CAN input
5	64	PTD7	PTD7	I	Limit switch 1
6	61	PTD4	PTD4	I	Limit switch 2
7	59	PTD2	PTD2	I	Limit switch 3
8	60	PTD3	PTD3	I	Limit switch 4
9	46	PTC3	UART1_RX	I	UART 1 input
10	49	PTC4	UART1_TX	O	UART 1 output
11	51	PTC6	PTC6	O	LED Debug0
12	52	PTC7	PTC7	O	LED Debug1
13	50	PTC5	PTC5	O	LED Debug2 ; On-board LED
14	58	PTD1	ADC0_SE5b	I	GP2 1
15	43	PTC0	PTC0	I	Motor driver 1 diag input
16	35	PTB0	FTM1_QD_PHA	I	Encoder 1 phase A
17	36	PTB1	FTM1_QD_PHB	I	Encoder 1 phase B
18	38	PTB3	I2C0_SDA	I/O	I2C data
19	37	PTB2	I2C0_SCL	I/O	I2C clock
20	62	PTD5	ADC0_SE6b	I	GP2 2
21	63	PTD6	ADC0_SE7b	I	GP2 3
22	44	PTC1	FTM0_CH0	O	Motor driver 1 PWM output
23	45	PTC2	FTM0_CH1	O	Motor driver 2 PWM output
A10	9	ADC0_DP0	---	---	---
A11	10	ADC0_DM0	---	---	---
A12	11	ADC0_DP3	---	---	---
A13	12	ADC0_DM3	---	---	---
A14	18	DAC0	---	---	---
24	27	PTA5	PTA5	O	Motor driver 1 IN_A output
25	42	PTB19	FTM2_QD_PHB	I	Encoder 2 phase B
26	2	PTE1	PTE1	O	Motor driver 2 IN_A output
27	54	PTC9	ADC1_SE5b	I	GP2 4
28	53	PTC8	PTC8	I	Motor driver 2 diag input
29	55	PTC10	ADC1_SE6b	I	GP2 5
30	56	PTC11	ADC1_SE7b	I	GP2 6
31	1	PTE0	PTE0	O	Motor driver 2 IN_B output
32	41	PTB18	FTM2_QD_PHA	I	Encoder 2 phase A
33	26	PTA4	PTA4	O	Motor driver 1 IN_B output