====== RIC (Robot Interface Controller) Spec ====== ^ Module | Rev 1: ESP-WROOM (ESP32-WROOM-32D)\\ Rev 2: ESP-WROVER ( ESP32-WROVER-E(M213EH2864PH3Q0) ) | ^ Interfaces | BLE (via ESP32) \\ 2.4GHz WiFi (via ESP32) \\ USB - UART - Silicon Labs CP2101N \\ UART (Serial) - onboard through extension header \\ i2c \\ i2s input | ^ Connectors | 1 x USB-C \\ 11 x JST-SH style i2c \\ 2 x laptop-battery-connector style i2c \\ JST-SH style i2s input \\ JST-SH style extension header \\ 6-pin keyed battery connector \\ 2-pad interface for speaker | ^ i2c | 5v level, up to 3A intermittent, 1A sustained \\ With JST-SH style connectors, pin compatible with STEMMA/QWIIC (note 5v used) \\ 8 spare connectors on RIC \\ daisy chainable \\ also present on extension header, and on two blade style connectors | ^ Speaker | Onboard i2s DAC and amp, two pad connection to Marty's onboard speaker | ^ Power | 6-pin keyed laptop-battery style connector to Robotical battery, or USB power \\ I2C 5v is sourced from battery only \\ 5v on extension connector is powered from battery or USB in. 1A max | ^ Accelerometer | MMA8452Q 3-axis accelerometer | ^ LEDs | Internal power LED \\ Rev 1: 3x RGB LED \\ Rev 2: 5x RGB LED (includes two behind buttons) | ^ Buttons | Power button \\ Function button | ^ Housing | Plastic shield to hold battery in place, and give better interface to the buttons | ^ Extension Header | Rev 1:
  1. GND
  2. GND
  3. I2CA_SDA
  4. I2CA_SCL
  5. I2CB_SDA
  6. I2CB_SCL
  7. UART RX
  8. UART TX
  9. 5V
  10. 5V
Rev 2:
  1. GND
  2. GND
  3. I2C_SDA
  4. I2C_SCL
  5. ESP IO14 / HS2_CLK/MTMS
  6. 3v3
  7. UART RX
  8. UART TX
  9. 5V
  10. 5V
| A supplied cable can be used to connect the extension header to a Raspberry Pi single board computer. This connection is designed to provide power as well as a serial connection to the pi ===== Images ===== {{ :martyv2:documentation:ric-rev2-front.jpg?400&nolink }} Front of RIC, showing main connectors {{ :martyv2:documentation:ric-rev2-back.jpg?400&nolink }} Back of RIC, showing buttons, USB connector and LEDs {{ :martyv2:documentation:ric-rev2-underside.jpg?400&nolink }} Underside of RIC, showing i2c connectors for Marty's legs, speaker connector. Users can optionally solder a microSD card holder or WS2812/SK68XX compatible LED output {{ :martyv2:documentation:ric-rev2-with-battery.jpg?400&nolink }} RIC with battery installed. LEDs showing on and connected to a WiFi network