| What | RPi GPIO | RPi Pin | Zumo | Wire Colour | Comment | |
|---|---|---|---|---|---|---|
| Motor 1 - PWM | 18 | 12 | 10 | Purple | ||
| Motor 2 - PWM | 19 | 35 | 9 | Blue | ||
| Motor 1 - Direction | 23 | 16 | 8 | Orange | ||
| Motor 2 - Direction | 24 | 18 | 7 | Grey | ||
| Button | 22 | 15 | 12 | Green | Active low (use GPIO pullup) | |
| I2C - SDA | SDA1 | 3 | A4 | White | ||
| I2C - SCL | SCL1 | 5 | A5 | Yellow | ||
| LED | Not connected | |||||
| Reset Button | Not connected | |||||
| Analog-Digital Converter | MISO0 | 21 | Yellow | |||
| MOSI0 | 19 | Orange | ||||
| SCLK0 | 23 | Grey | ||||
| CE0 | 24 | White | ||||
| Serial Rx | RXD | 10 | Purple | |||
| Serial Tx | TXD | 8 | Grey | |||
| 5V I/O | 20 | 38 | Blue | |||
| 5V I/O | 21 | 40 | Purple | |||
| Reflective Sensor Array | 05 | 29 | 5 | Yellow | ||
| ADC516 | 36 | A2 | Blue | Connected to ADC via SPI | ADC6 | |
| 26 | 37 | A0 | Orange | Connected to ADC via SPI | ||
| 06 | 31 | 11 | Grey | |||
| 12 | 32 | A3 | Purple | |||
| 13 | 33 | 4 | White |
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