Description. Microcontroller A is located on the left side of the main board. On my RoboScout, it's labelled A (2.0). Presumably 2.0 is the firmware version. The chip is a PIC16C76.

Disassembly Files:

• Hex file from Warp 13
• Modified hex file ready for disassembly
• Output from disassembler
• Final product - source file that's acceptable to MPLAB

Source Code Analysis. The table below summarizes the pin usages I found in this chip's source code. Symbols are from Microchip's Mid-Range Reference Manual and the chip's datasheet. I skipped pins like /MCLR and VSS that aren't set in source code. I'm uncertain about UART usage. It appears that the UART is configured, but I didn't see the receive or transmit buffers being used anywhere in the code.

Pin	Function	Description	Used?
2	AN0	Analog Input	Yes
3	RA1	Output	?
4	RA2	Input	No
5	RA3	Output	?
6	RA4	Input	Yes
7	RA5	Output	?
11	RC0	Input	?
12	T1OSI	Counter 1, Input	Yes
13	CCP1	PWM	Yes
14	SCL	I2C Clock	Yes
15	SDA	I2C I/O	Yes
16	RC5	Output	?
17	TX (?)	UART Transmit (?)	?
18	RX (?)	UART Receive (?)	?
21	RB0	Input	?
22	RB1	Input	Yes
23	RB2	Input	?
24	RB3	Input	Yes
25	RB4	Input	Yes
26	RB5	Input	Yes
27	RB6	Input	Yes
28	RB7	Input	Yes

I also traced a little of the code structure. All my analysis notes are in this file:
Source Code With Some Added Comments.

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