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 |
† Used by Adafruit 320x240 TFT Display
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 |
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