Marvelmind Grumbler robot: main interfaces

The Marvelmind Grumbler robot has several I/O: for robot-PC communication, for debugging and for expansion:

1. Obviously, In-System Programming (ISP) for flashing
2. JTAG interface for step-by-step debugging - very powerful tool. One can freeze the processor and read the real inputs from the processor's pins
3. RS232-1 and RS232-2 - these two are present, They do not have a standard connector due to lack of space, but the circuitry is there and the USART can be used. Adaptor to a standard DB9 RS232 connector is an option.
4. Two-wire Serial Interface to connect to expansion processor boards, ADCs, DACs, etc
5. Pins for external control (motor, relay, etc), ADC, expansion of IR emitters and receivers, external interrupts
   

In fact, the robot has a good number of different interfaces. Probably, I just need to highlight them better :-)

For more information see the picture attached.