Rapiro main board specifications
Summary
Rapiro main board is designed to be compatible to Arduino and comes with Arduino UNO bootloader onto the microcontroller. This means the board can be controlled by Arduino IDE.
- Microcontroller: ATmega328P
- USB Serial converter chip: FT231XS
- Pins for controlling servos: 16
- Pins for sensors: 2
- Pins for I2C communication
- Pins for communicating with Raspberry Pi
- Flash Memory: 32KB (Includes Bootloader: 0.5KB)
- SRAM: 2KB
- EEPROM: 1KB
- Clock Speed: 16MHz
I/O
The board has I/O for controlling servos, full-color LEDs on eyes, Raspberry Pi and others.
Here is the list which shows Pin Number with correspond destinations.
Servo Moters
| Destination | Silk Print on Board | Pin Number |
|---|---|---|
| Right Foot(pitch) | foot_p | D2 |
| Right Foot(yaw) | foot_y | D4 |
| Right Hand | hand | D7 |
| Right Arm(pitch) | shld_p | D8 |
| Right Arm(roll) | shld_r | D9 |
| Head | head | D10 |
| Waist | waist | D11 |
| Left Arm(roll) | shld_r | D12 |
| Left Arm(pitch) | shld_p | D13 |
| Left Hand | hand | A0 |
| Left Foot(yaw) | foot_y | A1 |
| Left Foot(pitch) | foot_p | A2 |
There is capital words L and R printed on the Board. Pins from center to L is for left side of Rapiro. R is so for the right.
Note:
You can turn the power supply to the servos on and off by changing the state of A3 pin on Rapiro main board. To supply the power to the servos, set the A3 pin HIGH. If you write Arduino sketches which controlls the servos, do not forget to set the A3 pin HIGH on the sketch.
Full-Color LEDs
| Destination | Silk Print on Board | Pin Number |
|---|---|---|
| Blue | B | D3 |
| Green | G | D5 |
| Red | R | D6 |
I2C
| Silk Print on Board | Pin Number |
|---|---|
| SDA | A4 |
| SDL | A5 |
Raspberry Pi
| Silk Print on Board | Pin Number |
|---|---|
| RxD | Rx(D0) |
| TxD | Tx(D1) |
| DTR | RESET |
Sensors
| Silk Print on Board | Pin Number |
|---|---|
| A6 | A6 |
| A7 | A7 |