===== Sensors =====
==== On-Board Sensors ====

[[martyv1:robotsdocs:hardware:rick|Rick]] has some integrated sensors that can be accessed through its [[martyv1:robotsdocs:hardware:esp-socket-api|API]] or the [[:martyv2:documentation:python_function_reference|Python library]]

=== Accelerometer ===

[[https://public.robotical.io/Datasheets/MMA8452QT.pdf|MMA8452Q 3-axis, 12/8 bit accelerometer]]connected on the 1st I<sup>2</sup>C bus.
By convention, the axes of the accelerometer are re-mapped in the API from their manufacturer assignments onto the standard robot frame of reference
(x forward, y laterally left, z vertically up). These are marked on the PCB.

=== Motor Current (//“Force”//) Sensors ===

A 0.1 Ω 1206 resistor (Schematic ref. R7 to R14) is attached from the Servo low-side to ground, and then to a GPIO on U1
for all motor channels //except// channel 9 (used for the Eyes). This permits motor current sensing, as a proxy for exertion/force/torque.

==== Add-On Sensors ====

=== VCNL4200 Distance Sensor Add-on ===


{{https://content.robotical.io/static/media/stock/DSC07892-ed-opt.jpg |VCNL4200 Distance Sensor Board}}

== VCNL4200 Module Datasheet ==
[[https://public.robotical.io/Datasheets/VCNL4200.pdf|https://public.robotical.io/Datasheets/VCNL4200.pdf]]

== I<sup>2</sup>C Address ==
''0x51''

== Voltage ==
5V input, logic 3V3 (//not// 5V tolerant)

== Product Schematic ==
[[https://public.robotical.io/Schematics/VCNL4200_Board/VCNL4200_breakout_schematic.pdf|https://public.robotical.io/Schematics/VCNL4200_Board/VCNL4200_breakout_schematic.pdf]]

== Dimensions ==
26mm × 13.5mm × 13mm (with connector)
Cable &amp; Connector
Approx 22cm long, JST XH 5 pin (10mil spaced) on board to 2 × 3 female pin header