PINOUTS.md

Pinout for Nimbus Robot

Motor Connections

Motor Control Switch

Functionality	RP2040 Pin#	nrpd.py
Motor Switch	GPIO28	MOTOR_SWITCH_PIN

Left Side Motors

Output Direction Pins

Functionality	RP2040 Pin#	nrpd.py
Motor Top IN1	GPIO8	MLTIN1
Motor Top IN2	GPIO9	MLTIN2
Motor Bottom IN1	GPIO11	MLBIN1
Motor Bottom IN2	GPIO10	MLBIN2

Encoder Input Pins

Functionality	RP2040 Pin#	nrpd.py
Motor Top ENA	GPIO14	ELTA
Motor Top ENB	GPIO15	ELTB
Motor Bottom ENA	GPIO12	ELBA
Motor Bottom ENB	GPIO13	ELBB

Right Side Motors

Output Direction Pins

Functionality	RP2040 Pin#	nrpd.py
Motor Top IN1	GPIO7	MRTIN1
Motor Top IN2	GPIO6	MRTIN2
Motor Bottom IN1	GPIO4	MRBIN1
Motor Bottom IN2	GPIO5	MRBIN2

Encoder Input Pins

Functionality	RP2040 Pin#	nrpd.py
Motor Top ENA	GPIO0	ERTA
Motor Top ENB	GPIO1	ERTB
Motor Bottom ENA	GPIO3	ERBA
Motor Bottom ENB	GPIO2	ERBB

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LEDs

Functionality	RP2040 Pin#	nrpd.py
RGB NEOPIXEL	GPIO18	NEOPIXEL_PIN
BLUE LED	GPIO19	BLUELED_PIN

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User Button

Functionality	RP2040 Pin#	nrpd.py
USER BUTTON	GPIO23	BUTTON_PIN

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UART

Functionality	RP2040 Pin#	nrpd.py
UART Rx	GPIO17	UART_RX
UART Tx	GPIO16	UART_TX

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SWD

Functionality	RP2040 Pin#
SWDIO	GPIO25
SWCLK	GPIO24

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I2C

Functionality	RP2040 Pin#	nrpd.py
SDA	GPIO20	I2C_SDA
SCL	GPIO21	I2C_SCL
INT	GPIO19	INTERRUPT_PIN

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SERVOS

Functionality	RP2040 Pin#	nrpd.py
Servo 1 Pin	GPIO27	SERVO1_PIN
Servo 2 Pin	GPIO26	SERVO2_PIN

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ADC

ADC Input Pin

Functionality	RP2040 Pin#	nrpd.py
ADC READ	GPIO29	ADC_IN_PIN

ADC Control Pins

Functionality	RP2040 Pin#	nrpd.py
ADC SEL0	GPIO24	ADC_SEL_0
ADC SEL1	GPIO25	ADC_SEL_1
ADC SEL2	GPIO22	ADC_SEL_2

ADC Channels

Functionality	ADC Channel#
FAULT RIGHT	ADC IN0
Motor Right Bottom Current Sense	ADC IN1
Motor Right Top Current Sense	ADC IN2
Battery Level	ADC IN3
Motor Left Top Current Sense	ADC IN4
PowerBooster Output Level	ADC IN5
FAULT Left	ADC IN6
Motor Left Bottom Current Sense	ADC IN7

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