There are 20 I/O pins on this AVR, and it may not be enough:
* 2 pins for current sensing
* 2 pins for PWM/chopping both motors
* 4 pins for direction control on both motors
* 2 pins for "encoders"
* 3 pins for programmer
That's 13 pins, and I
rebrained roomba.
Photo of Roomba by
Photo of Roomba by
