==== Sensors ====
On-Board Sensors
Rick has some integrated sensors that can be accessed through it’s API
- Acclerometer
- MMA8452Q 3-axis, 12/8 bit accelerometer connected on the 1st I2C 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
- VCNL4200 Module Datasheet
- https://public.robotical.io/Datasheets/VCNL4200.pdf
- I2C Address
0x51- Voltage
- 5V input, logic 3V3 (not 5V tolerant)
- Product Schematic
- https://public.robotical.io/Schematics/VCNL4200_Board/VCNL4200_breakout_schematic.pdf
- Dimensions
- 26mm × 13.5mm × 13mm (with connector)
- Cable & Connector
- Approx 22cm long, JST XH 5 pin (10mil spaced) on board to 2 × 3 female pin header