Which Digital IOs are available when using the braccio shield

[Bumo]

Dear all,

After troubleshooting for quite some time I found out that defining the arduino digital pins 2,3,4,5 for INPUT_PULLUP the servos M5 and M6 stop to work?!

I need 4 digital inputs for my project (for reading electric switches) and thought that the digital inputs would be just routed through from the arduino to the braccio pins and would be unused by braccio itself.

Is there a table where I can check which digital IOs are used by braccio itself and which are free for general use?

thanks
Bumo

[Idahowalker]

What does braccio have to say about their product?

[JamesGist]

You can look either in the library code or at the schematic to see which pins are used. Pins 11, 10, 9, 6, 5, 3 are used for motors M1 through M6 respectively.

#define _BASE_ROT_PIN 11 
#define _SHOULDER_PIN 10 
#define _ELBOW_PIN 9     
#define _WRIST_PIN 6     
#define _WRIST_ROT_PIN 5 
#define _GRIPPER_PIN 3