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This page contains some miscellaneous notes about wiring on the KR01 robot, included specifically so that the robot can be disassembled and reassembled without confusion about which wire goes where.

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#

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

Starboard-Aft Board (connections to below)#

Starboard Aft Boar

This board provides two 10 pin connections to the lower board, which includes the outputs from the bumpers (BP, BC and BS), infrared sensors (IRP, IRC and IRS) and motor encoders (A1, A2, B1 and B2).

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

ItsyBitsy M4 Express & BNO055 Daughterboard#

ItsyBitsy M4 Express & BNO055 Daughterboard

The KR01 has a Perma-Proto board dedicated to holding an ItsyBitsy M4 Express and a BNO055 9-Axis Absolute Orientation sensor. The various connections to and from the daughterboard are shown in the above photo. The two columns of cyan and magenta-coloured pins are used to explode the 5V supply, which are used for the bumper and infrared sensors.

This board is currently not functional. The BNO055 is incompatible with the Raspberry Pi, so the ItsyBitsy will be used to drive the BNO055 (and potentially poll other sensors).

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