Expansion Connections and Pinouts for Building Robots

If you’re building a robot, you’re making lots of electrical connections, so you’re dealing with lots of pins. The following table shows the signal for expansion connectors and pin numbers. It can help prevent unwanted cross connections.

Expansion Connector	Pin Number	Signal	Expansion Connector	Pin Number	Signal
1,2		Ground	16	P11	Green LED
3,4		+5 volts	17	P12	Jumper J7
5	P0	Left whisker	18	P13	Jumper J6
6	P1	Right whisker	19	P14	Switch 1
7	P2	Rear whisker	20	P15	Switch 2
8	P3	Temp sensor	21		RB7 from coprocessor
9	P4	Light sensor	22		Encoder pulse
10	P5	PIR sensor	23		Servo motor #1
11	P6	RC drive motor input	24		Servo motor #2
12	P7	Speech output	25		Servo motor #3
13	P8	Network to coprocessors	26		Servo motor #4
14	P9	Speaker	27–40	Unused
15	P10	Red LED

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Source:http://www.dummies.com/how-to/content/expansion-connections-and-pinouts-for-building-rob.html