This page contains some miscellaneous notes about wiring on the KR01 robot.

Overview#

The KR01 is currently using up most of the available GPIO pins, with a bunch being used by the Mini PiTFT display (which is optional). In the future we may offload the four encoder pins to the daughterboard containing the ItsyBitsy M4 Express. Most IO connections are planned to use the I2C bus.

We're not currently planning to use the PWM (pulse-width modulation), SPI, Serial (UART) or other GPIO features, just digital IO.

I2C Bus#

 ► i2cdetect -y 1
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:          -- -- -- -- -- -- -- -- -- -- -- -- -- 
10: -- -- -- -- 14 15 -- -- -- -- -- -- -- -- -- -- 
20: -- -- -- -- -- -- -- -- 28 -- -- -- -- -- -- -- 
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
60: -- -- -- -- -- -- -- -- 68 -- -- -- -- -- -- -- 
70: -- -- -- -- 74 75 -- 77   

GPIO Pin Usage#

PIN PIN
3V3 +5V
02: SDA (I2C) +5V
03: SCL (I2C) GND
17: GCLK 14: TXD0
GND 15: RXD0
17: STATUS LED 15: ENCODER A2 (PCM_CLK)
27: ENCODER A1 GND
22: ENCODER B1 23: ENCODER B2
3V3 24: GPIO 24
10: MOSI GND
9: MISO 25: GPIO 25
11: SCLK 8: CE0
GND 7: CE1
ID_SD ID_SC
5: STARBOARD INFRARED GND
6: CENTER INFRARED 12: PORT INFRARED
13: PORT BUMPER GND
19: CENTER BUMPER 16
26: STARBOARD BUMPER 20
GND 21
For sensor wires, wires are orange or red for port, green for starboard (just like on a boat).

Requires pins for: , , ENCODER B2

GPIO pin 20 is reserved for something, I can't remember.

 ► pinout
,--------------------------------.
| oooooooooooooooooooo J8     +====
| 1ooooooooooooooooooo        | USB
|                             +====
|      Pi Model 3B  V1.2         |
|      +----+                 +====
| |D|  |SoC |                 | USB
| |S|  |    |                 +====
| |I|  +----+                    |
|                   |C|     +======
|                   |S|     |   Net
| pwr        |HDMI| |I||A|  +======
`-| |--------|    |----|V|-------'

Revision           : a02082
SoC                : BCM2837
RAM                : 1024Mb
Storage            : MicroSD
USB ports          : 4 (excluding power)
Ethernet ports     : 1
Wi-fi              : True
Bluetooth          : True
Camera ports (CSI) : 1
Display ports (DSI): 1

J8:
   3V3  (1) (2)  5V    
 GPIO2  (3) (4)  5V    
 GPIO3  (5) (6)  GND   
 GPIO4  (7) (8)  GPIO14
   GND  (9) (10) GPIO15
GPIO17 (11) (12) GPIO18
GPIO27 (13) (14) GND   
GPIO22 (15) (16) GPIO23
   3V3 (17) (18) GPIO24
GPIO10 (19) (20) GND   
 GPIO9 (21) (22) GPIO25
GPIO11 (23) (24) GPIO8 
   GND (25) (26) GPIO7 
 GPIO0 (27) (28) GPIO1 
 GPIO5 (29) (30) GND   
 GPIO6 (31) (32) GPIO12
GPIO13 (33) (34) GND   
GPIO19 (35) (36) GPIO16
GPIO26 (37) (38) GPIO20
   GND (39) (40) GPIO21

For further information, please refer to https://pinout.xyz/

Port-Front Board (with BNO05 DoF and ItsyBitsy M4 Express)#

5 pin header:

+5V SCL SDA NA GND

Port-Back Board (connections to below)#

B1 (black wire) A1 (brown wire)
+5V GND
B2 A2


Tags:  KR 01