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Hardware Introduction

Pinout

../_images/robohat_pinout_v5.png
Power Port

  • 6.0V-8.4V XH2.54 3pin power input.

  • Powering the Raspberry Pi and Robot HAT at the same time.

Power Switch

  • Turn on/off the power of the robot HAT.

Type-C Charge Port

  • Insert the Type-C cable to charge the battery.

  • At the same time, the charging indicator lights up in red color.

  • When the battery is fully charged, the charging indicator turns off.

  • If the USB cable is still plugged in about 4 hours after it is fully charged, the charging indicator will blink to prompt.

Digital Pin
ADC Pin
PWM Pin
Motor Port
I2C Pin and I2C Port

  • I2C Pin: P2.54 4-pin interface.

  • I2C Port: SH1.0 4-pin interface, which is compatible with QWIIC and STEMMA QT.

  • These I2C interfaces are connected to the Raspberry Pi’s I2C interface via GPIO2 (SDA) and GPIO3 (SCL).

  • Pin: I2C.

  • API: class I2C.

SPI Pin

  • P2.54 7-pin SPI interface.

  • Pin: SPI.

UART Pin

  • P2.54 4-pin interface.

  • Pin: UART.

WS2812 Port
RST Button

  • The RST button, when using Ezblock, serves as a button to restart the Ezblock program.

  • If not using Ezblock, the RST button does not have a predefined function and can be fully customized according to your needs.

  • Pin: Buttons.

  • API: class Pin

USR Button

  • The functions of USR Button can be set by your programming. (Pressing down leads to a input β€œ0”; releasing produces a input β€œ1”. )

  • API: class Pin, you can use Pin("SW") to define it.

  • Pin: Buttons.

Battery Indicator

  • Two LEDs light up when the voltage is higher than 7.6V.

  • One LED lights up in the 7.15V to 7.6V range.

  • Below 7.15V, both LEDs turn off.

  • Battery Level Indicator.

Speaker and MIC

  • Speaker: This is a 2030 audio chamber speaker.

  • Speaker Port: The Robot HAT is equipped with onboard I2S audio output, along with a 2030 audio chamber speaker, providing a mono sound output.

  • MIC: The Robot HAT is equipped with a MEMS microphone, which can be used to collect ambient sound.

  • Pin: Speaker and MIC.

  • API: class Music

Pin Mapping

Raspberry Pi IO

Robot Hat V5

Raspberry Pi

Raspberry Pi

Robot Hat V5

NC

3V3

5V

5V

SDA

SDA

5V

5V

SCL

SCL

GND

GND

DIGITAL 4

GPIO4

TXD

TXD

GND

GND

RXD

RXD

DIGITAL 17

GPIO17

GPIO18

I2S BCLK

DIGITAL 27

GPIO27

GND

GND

DIGITAL 22

GPIO22

GPIO23

CHG

NC

3V3

GPIO24

NC

SPI MOSI / WS2812 DOUT

MOSI

GND

GND

SPI MISO

MISO

GPIO25

USR BUTTON

SPI SCLK

SCLK

CE0

SPI CE0

GND

GND

CE1

NC

NC

ID_SD

ID_SC

NC

MCU Reset

GPIO5

GND

GND

(SPI)BSY

GPIO6

GPIO12

Speaker Enable

NC

GPIO13

GND

GND

I2S LRCLK

GPIO19

GPIO16

RST BUTTON

USER LED

GPIO26

GPIO20

I2S DATAIN

GND

GND

GPIO21

I2S DATAOUT

Digital IO

Robot HAT has 4 sets of P2.54 3Pin digital pins.

../_images/digitalio_v5.png
Digital IO

Robot Hat V5

Raspberry Pi

17

GPIO17

4

GPIO4

27

GPIO27

22

GPIO22

ADC

../_images/adcpin_v5.png

The Robot HAT features four sets of 3 Pin ADC (Analog to Digital Converter) pins, each spaced 2.54mm apart. These pins operate at a 3.3V power supply. The ADC function, offering 12-bit precision, is facilitated by an onboard microcontroller. Detailed instructions for reading ADC values are provided in the On-Board MCU section.

../_images/btradc_v5.png

Also, ADC channel A4 is connected to the battery through a voltage divider using resistors, which will be used to measure the battery voltage to estimate the approximate battery charge.

The voltage divider ratio is 200K/100K, so:

  • A4 voltage (Va4) = value_A4 / 4095.0 * 3.3

  • Battery voltage (Vbat) = Va4*3

  • Battery voltage (Vbat) = value_A4 / 4095.0 * 3.3 * 3

PWM

../_images/pwmpin_v5.png

Robot HAT has 4 sets of 3 Pin PWM pins, each spaced 2.54mm apart, and the power supply is 5V. The method of using the PWM is described in detail in On-Board MCU.

Note

PWM13 ~ 19 channels are used for motor drive.

I2C

../_images/i2cpin_v5.png

The Robot HAT has two I2C interfaces. One is the P2.54 4-pin interface, and the other is the SH1.0 4-pin interface, which is compatible with QWIIC and STEMMA QT. These I2C interfaces are connected to the Raspberry Pi’s I2C interface via GPIO2 (SDA) and GPIO3 (SCL). The board also features an On-Board MCU, and the two signal lines have 10K pull-up resistors.

SPI

../_images/spipin_v5.png

The SPI interface of the Robot HAT is a 7-pin P2.54 interface. It connects to the SPI interface of the Raspberry Pi and includes an additional I/O pin that can be used for purposes such as interrupts or resets.

SPI

Robot Hat V5

Raspberry Pi

BSY

GPIO6

CS

CE0(GPIO8)

SCK

SCLK(GPIO11)

MI

MISO(GPIO9)

MO

MOSI(GPIO10)

3V3

3.3V Power

GND

Ground

UART

../_images/uartpin_v5.png

The UART interface of the Robot HAT is a 4-pin P2.54 interface. It connects to the Raspberry Pi’s GPIO14 (TXD) and GPIO15 (RXD) pins.

WS2812 Port

../_images/ws2812pin_v5.png

The Robot HAT comes with 1 WS2812 port (ZH1.5 3 Pin), which can be used to control 1 WS2812 LED strip.

This Pin is shared with SPI MOSI, so it can not be used as SPI MOSI at the same time.

Buttons

../_images/btn_led_v5.png

The Robot HAT comes with 1 LED and 2 buttons, all directly connected to the Raspberry Pi’s GPIO pins. The RST button, when using Ezblock, serves as a button to restart the Ezblock program. If not using Ezblock, the RST button does not have a predefined function and can be fully customized according to your needs.

LED & Button

Robot Hat V4

Raspberry Pi

LED

GPIO26

USR

GPIO25

RST

GPIO16

Speaker and MIC

../_images/speaker_v5.png

The Robot HAT is equipped with onboard I2S audio output/input, along with a 2030 audio chamber speaker, providing a mono sound output. The onboard microphone can be used to receive audio signals.

I2S

I2S

Raspberry Pi

WS

GPIO19

SCLK

GPIO18

Audio OUT (Speaker)

GPIO21

Aduio IN (MIC)

GPIO20

The speaker has a switch to control the speaker’s on/off status, which is connected to the Raspberry Pi’s GPIO 12. When the switch is turned on, the speaker will be enabled, and when the switch is turned off, the speaker will be disabled. If you do not need the speaker, you can turn off the switch to protect it.

Speaker Enable

I2S

Raspberry Pi

Switch

GPIO12

Enable

High

Disable

Low

Motor Port

The motor driver of the Robot HAT supports 4 channels and can be controlled using 8 PWM signals for direction and speed control.

Motor Driver

Motor

PWM

Motor1 A

PWM12

Motor1 B

PWM13

Motor2 A

PWM14

Motor2 B

PWM15

Motor3 A

PWM16

Motor3 B

PWM17

Motor4 A

PWM18

Motor4 B

PWM19

The motor drive mode is as follow.

Battery Level Indicator

The battery level indicator on the Robot HAT monitors the battery voltage using a voltage divider method and serves as a reference for estimating the battery level. The relationship between the LED and voltage is as follows:

Battery Level

LED Battery

Total Voltage

2 LEDs on

Greater than 7.3V

1 LED on

Greater than 6.9V

Both LEDs off

Less than 6.9V

When any one of the batteries reaches or exceeds 4.1V while the others are below that threshold, the charging current of that specific battery will be reduced.

Servo Zeroing Button

../_images/btn_servo_zeroing_v5.png

The servo zeroing button is used to calibrate the servo’s zero position. When you press the button twice, all the PWM signals will be set to 1500us pulse, 20000us period. That is, the servo will be in the middle position. You should secure the servo arm to the servo in this state.

Press the button twice again, all the PWM signals will be set to 0 pulse.