Pioneer 2 - Manual (Page 57)

Pioneer Mobile Robots
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Table A-5. General I/O Bus Connections
Pin # Label Pin # Label
1 P3_0 2 D0
3 P3_1 4 D1
5 P3_2 6 D2
7 P3_3 8 D3
9 P3_4 10 D4
11 P3_5 12 D5
13 P3_6 14 D6
15 P3_7 16 D7
17 WR 18 CS2
19 Vpp 20 CS3 (Bumpers)
21 P2_12 22 CS4
23 P2_13 24 CS5
25 P2_14 26 A0
27 P2_15 28 A1
29 P5_9 30 Vcc
31 Gnd 32 RD#
33 Gnd 34 Vcc