Modifications to Leaf Microcontroller
(only needed for Rev 0 and Rev 1 boards)
001 Grounds for 10 pin accelerometer
Two pins must be grounded to ensure noise free accelerometer signals. The change is easily made on the bottom of the board with a jumper wire. The wire connects pin 2 of the connector (starting the count from the top) to pins 6 and 7.
If you are one of the few people with a Rev 0 board, the jumper should also connect to pin 3. The jumper from pin 2 to 3 is necessary to get the accelerometer to work at all.
This change is necessary on Rev 0 and Rev 1 microcontroller boards if you are going to use a 10 pin accelerometer board.
002 Jumpers to enable RC drive motor control
Normal H-bridge type PWM control is converted to RC control by placing two jumpers on the microcontroller mother board. The two pictures show this change as made for the Rev 0 or Rev 1 boards. Note that this change must not be made unless you intend to drive RC style motor controllers with this board.
Two jumpers are required. The first can be made on the top of the circuit board as shown in the second picture. This jumper connects pins 20 and 21 of H1 on the Adapt9S12 board together. The second jumper must be done on the bottom of the board as shown in the first picture. This jumper is from one pass-through via on the board (which connects to H1-19) to Pin 18 on H1. The H1 nomenclature as well as pin number identifiers can be found on the Adapt9S12 board.
This modification is used for Rev 0 and Rev 1 microcontroller boards.
003 Encoder rewiring (Rev 0 only)
This is an optional modification for Rev 0 boards. Due to a software incompatibility, the wiring for Encoder input 1 did not work. The software was revised to use encoder inputs 0 and 2. This was unaesthetic as these numbers did not match well with the motor driver outputs 0 and 1.
Nobody has found this particularly annoying, BUT if you want to change your Rev 0 board so that it hooks up the same as a rev 1 and subsequent boards (using the ENC0 and ENC1 jacks), you can make the following wiring change. This change basically swaps the ENC1 and ENC2 wires while routing the ENC2 interrupt to a new processor input where it might work someday in the future.