• Stepper - PB1, PB15, PB14, PB13
• delay_us - TIM11
• LCD - I2C1 SCL PB6, PDA PB7
• Photo Interrupter - 1층 PA11, 2층 PB12, 3층 PB2, 문감지 PC2
• Servo - TIM3 PWM CH1 PA6
• Button - EXTI
  • 내부 1층 PC8, 2층 PC6, 3층 PC5, 열림 PA12
  • 외부 1층 UP PC10, 2층 UP PC11, 2층 DOWN PD2, 3층 DOWN PA1
• Button - Input 내부 비상 PC4
• Buzzer - TIM2 PWM CH1 PA0
• FND - PC9, PB8, PB9, PA5, PA7, PC7, PA9, PA8
• LED - PB10, PB4, PB3, PA10, PA4, PB0, PC1, PC0