This page contains some miscellaneous notes about wiring on the [KR01] robot.
[{TableOfContents}]
!! 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
Generally, port wires are orange or red, starboard are green (like on a boat).
%%small
|| PIN || PIN
| %%org 3V3 %% | %%red +5V %%
| __02__: SDA (I2C) | %%red +5V %%
| __03__: SCL (I2C) | %%grn GND %%
| __17__: GCLK | __14__: TXD0
| %%grn GND %% | __15__: RXD0
| __17__: %%prp STATUS LED %% | PCM_CLK
| __27__ | %%grn GND %%
| __22__ | __23__
| %%org 3V3 %% | __24__: GPIO 24%%sup † %%
| __10__: MOSI%%sup † %% | %%grn GND %%
| __9__: MISO%%sup † %% | __25__: GPIO 25%%sup † %%
| __11__: SCLK%%sup † %% | __8__: CE0%%sup † %%
| %%grn GND %% | __7__: CE1%%sup † %%
| %%gry ID_SD %% | %%gry ID_SC %%
| __5__: %%prp STARBOARD INFRARED %% | %%grn GND %%
| __6__: %%prp CENTER INFRARED %% | __12__: %%prp PORT INFRARED %%
| __13__: %%prp PORT BUMPER %% | %%grn GND %%
| __19__: %%prp CENTER BUMPER %% | __16__
| __26__: %%prp STARBOARD BUMPER %% | __20__
| %%grn GND %% | __21__
%%
%%small
† Used by [Adafruit 320x240 TFT Display|Adafruit320x240TFTDisplay]
%%
Requires pins for: , ENCODER A2, 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:
| %%red +5V %% | SCL | SDA | NA | %%grn GND %%
!! Port-Back Board (connections to below)
| B1 (black wire) | A1 (brown wire)
| %%red +5V %% | %%grn GND %%
| B2 | A2
----
[{Tag KR01}]