Description. Microcontroller C is located on the right side of the main board. On my RoboScout, it's labelled C (1.5). Presumably 1.5 is the firmware version. The chip is a PIC16C63A.

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 the 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.

Pin	Function	Description	Used?
2	RA0	Input	Yes
3	RA1	Input	?
4	RA2	Input	?
5	RA3	Output	Yes
6	RA4	Input	Yes
7	RA5	Input	?
11	RC0	Input	No
12	RC1	Output	?
13	CCP1	PWM	Yes
14	SCL	I2C Clock	Yes
15	SDA	I2C I/O	Yes
16	RC5	Output	Yes
17	RC6	Output	Yes
18	RC7	Input	Yes
21	RB0	Input	Yes
22	RB1	Output	Yes
23	RB2	Output	Yes
24	RB3	Input	Yes
25	RB4	Output	?
26	RB5	Output	?
27	RB6	Output	?
28	RB7	Output	?

I also traced a little of the code structure, mostly to validate that the disassembly gave a reasonable result. All my analysis notes are in this file:
Source Code With Some Added Comments.

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