green->out8->PD8
red->out6->PD12
white>out4->PD14
yellow->out2->PC8
blue->out1->PC9



PA10	B		RXD1
PA9	A		TXD1
PA15	R485 SW		R485_SW


MOTOR1_DIR 		PDout(5)	// 
MOTOR2_DIR 		PDout(3)	// 	
MOTOR1_BK 		PBout(5)	// 	
MOTOR2_BK 		PBout(4)	// 	

MOTOR3_DIR 		PDout(6)	// 
MOTOR4_DIR 		PDout(4)	// 	
MOTOR3_BK 		PDout(7)	// 	
MOTOR4_BK 		PBout(3)	// 


PWM_CH1			PB6
PWM_CH2			PB7
PWM_CH3			PB8
PWM_CH4			PB9



F_CHECK1			PE0
F_CHECK2			PE1
			
B_CHECK1			PE2
B_CHECK2			PE3
			
R_CHECK1			PE4
R_CHECK2			PE5
			
L_CHECK1			PE6
L_CHECK2			PC13