Pioneer 2 - Manual (Page 62)

Appendix D: Joystick Connector
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Appendix D
Joystick Connector
Use a 20-wire IDC-terminated ribbon cable to attach the 15-pin joystick connector to the User I/O port on
the Pioneer 2 microcontroller. Both require P2OS version 1.c or later.
Figure D-1. Standard joyport for manual drive of a Pioneer 2 Mobile Robot
Figure D-2. Joyport with signal switch for sharing User I/O ports with other accessories