Robots-For-All (IEEE - HI)
FPGA Robot
The FPGA robot consists of the following parts:
- WRL-17381 - SparkFun Thing Plus - ESP32 WROOM (U.FL)
- DEV-27873 - Alchitry Pt V2 (FPGA)
- PRT-28006 - Alchitry Fn V2 (Fan + Heatsink)
- PRT-28005 - Alchitry Sp V2 (Spacer + Heatsink)
- DEV-27877 - Alchitry Br Wide V2 (Breakout board)
- DEV-27878 - Alchitry Io V2 (Display, switches)
- 6 - PRT-28007 - Alchitry Standoff Hardware
- 2 - - OV5640 Camera Board - 5 Megapixel (2592x1944), Fisheye Lens
- 2 - DEV-14129 - SparkFun Ardumoto - Motor Driver Shield
- 2 - PRT-08084 - Screw Terminals 3.5mm Pitch (2-Pin)
- 2 - PRT-15519 - Screw Terminals 3.5mm Pitch (4-Pin)
- 4 - ROB-21245Hobby Gearmotor - 140 RPM, Male Connectors (Single)
- 4 - ROB-12629Wheel Encoder Kit
- 2 - ROB-13259 - Wheel - 65mm (Rubber Tire, Pair)
- 2 - ROB-13260 - Hobby Motor and Encoder Kit
The specifications are found here.
WRL-17381: ESP32 WROOM Thing Plus C
The table below shows the GPIO pins that ESP32 board provides to the
board edge and their Alchitry connections and uses:
| ESP32 |
Alchitry |
| GPIO # |
Use |
Pin # |
Bank |
Pin # |
Use |
| 0 |
Button |
N/C |
|
|
|
| 1 |
TX to CH340 RX |
N/C |
|
|
|
| 2 |
RGB LED |
N/C |
|
|
|
| 3 |
RX from CH340 TX |
N/C |
|
|
|
| 4 |
|
28 |
|
|
Camera Data 0 |
| 5 |
uSD CS/ |
N/C |
|
|
|
| 12 |
|
8 |
|
|
Camera Data 1 |
| 13 |
Blue LED |
9 |
|
|
Camera Data 2 |
| 14 |
|
3 |
|
|
Camera Data 3 |
| 15 |
|
5 |
|
|
Camera Data 4 |
| 16 |
RX |
26 |
|
|
|
| 17 |
TX |
27 |
|
|
|
| 18 |
SCK, uSD Card SCK |
23 |
|
|
|
| 19 |
POCI, MISO, uSD Card MISO |
25 |
|
|
|
| 21 |
SDA |
1 |
|
|
I2C SDA |
| 22 |
SCL |
2 |
|
|
I2C SCL |
| 23 |
PICO, MOSI, uSD Card CS/ |
24 |
|
|
|
| 25 |
A1 |
18 |
|
|
|
| 26 |
A0 |
17 |
|
|
|
| 27 |
|
7 |
|
|
Camera Data 5 |
| 32 |
|
4 |
|
|
Camera Data 6 |
| 33 |
|
6 |
|
|
Camera Data 7 |
| 34 |
A2 |
19 |
|
|
|
| 35 |
A5 |
22 |
|
|
V Sync |
| 36 |
A4 |
21 |
|
|
H Sync |
| 39 |
A3 |
20 |
|
|
Pixel Clock |