Appendix

Microcore Pin-out

Pin	Connection
A4 A5 A6	Stepper Driver Step DS3658 A, Shooter Motor H-Bridge Enable A & B, Drive Motors
E0 E1 E2 E3	IR Beacon Input 1 (A/D 0) IR Beacon Input 2 (A/D 1) IR Beacon Input 3 (A/D 2) Tape Sensor Input (A/D 3)
F0	Reset Switch (Active Low)
G0 G1 G2 G3 G4 G5 G6 G7	DS3658 B, Shooter LEDs N.C. Back Indicator LED (not used) DS3658 C, Loader Power Relay Stepper Driver Step Size Select Stepper Driver Direction Select H-Bridge Channel A Direction H-Bridge Channel B Direction

Sensor Schematics