"RPI_Robot_HAT" is a raspberry pi HAT designed for small/medium size robots. It has an IMU, Dynamixel connectors and audio. Its size fits a Raspberry PI zero.
The RPI_Robot_HAT gathers:
- IMU over I2C + data fusion
- Dynamixel motor communication: both TTL and 485 to drive Dynamixel/Feetech motor (requires cable adaptation)
- in/out audio device with an integrated mems microphone. Wago connectors allows connection of loudspeaker and extra microphone.
- expension Qwiic connectors, 1 mm/3V3. Please refer to the schematic for knowing which can be use on you raspberry pi.
The RPI_Robot_HAT can be power from 5 to 28V. It is designed to use of the motor connector as an power input.
| Release | Date | Designer | Check | Comments |
|---|---|---|---|---|
| A1 | 06/03/2026 | EB | SN | Initial drawing |
| B1 | 06/05/2026 | EB | SN | [fixed] Acc. is at 0x19 I2C address [fixed] Soft reset of the audio DAC [fixed] Ideal diode [fixed] Know position of IMU [update] Dynamixel_dir is based on Tx [added] IMU can be disconnected [added] IMU_IT is cabled [added] Access to I2C0 [added] Switch off detection |
| C1 | 08/07/2026 | EB | SN | [fix] 3V3 on IO10/11 [fix] MOS direction of Ideal diode [update] I2C3 is by default instead of reserved I2C |
| D1 | 06/10/2026 | EB | Claude | [update] IMU is now LSM6DSV16XTR [update] RS485 Driver [update] screwable terminals for audio |
- Designed with KiCAD 9.