| What | RPi GPIO | RPi Pin | Zumo | Comment |
|---|---|---|---|---|
| Motor 1 - PWM | 18 | 12 | 10 | |
| Motor 2 - PWM | 19 | 35 | 9 | |
| Motor 1 - Direction | 23 | 16 | 8 | |
| Motor 2 - Direction | 24 | 18 | 7 | |
| Button | 22 | 15 | 12 | Active low (use GPIO pullup) |
| I2C - SDA | SDA1 | 3 | A4 | |
| I2C - SCL | SCL1 | 5 | A5 | |
| LED | Not connected | |||
| Reset Button | Not connected | |||
| Analog-Digital Converter | MISO0 | 21 | AD converter expects signal between 0 and 3.3V. | |
| MOSI0 | 19 | |||
| SCLK0 | 23 | |||
| CE0 | 24 | |||
| Serial Rx | RXD | 10 | ||
| Serial Tx | TXD | 8 | ||
| 5V Input 1 | 20 | 38 | ||
| 5V Output 1 | 21 | 40 | ||
| 5V Input 2 | 17 | 11 | ||
| 5V Output 2 | 27 | 13 | ||
| GPIO1 | 7 | 26 | 3.3V | |
| GPIO2 | 8 | 24 | 3.3V | |
| GPIO3 | 25 | 22 | 3.3V | |
| Reflectance Sensor Array | 05 | 29 | 5 | |
| 16 | 36 | A2 | ||
| 26 | 37 | A0 | ||
| 06 | 31 | 11 | ||
| 12 | 32 | A3 | ||
| 13 | 33 | 4 |
