Motor pinout mapping
- Jürgen Baier
- Mazen Mohsen
In pib, motors are connected to 1 of 3 Tinkerforge servo bricklets and 1 of 10 pins of the bricklet. For Cerebra to be able to run correctly the physical connection in real pib should match the connection in database. Shown below is a table showing where you should connect motors.
This list is for which bricklet should motors be connected to. Bricklet 1 is on the left in real pib, 2 in the middle and 3 at the right.
Motor name (joint connected to motor like thumb rotator) | Bricklet number (1 to 3) | Bricklet pin (0 to 9) |
"turn_head_motor" | 1 | 0 |
"tilt_forward_motor" | 1 | 1 |
"upper_arm_left_rotation" | 2 | 5 |
"elbow_left" | 2 | 6 |
"lower_arm_left_rotation" | 2 | 7 |
"shoulder_vertical_left" | 3 | Uses 2 motors one connected to pin 7 and the other connected to pin 9 |
"shoulder_horizontal_left" | 3 | 0 |
"upper_arm_right_rotation" | 3 | 1 |
"elbow_right" | 3 | 2 |
"lower_arm_right_rotation" | 3 | 3 |
"shoulder_vertical_right" | 3 | Uses 2 motors one connected to pin 5 and the other connected to pin 8 |
"shoulder_horizontal_right" | 3 | 6 |
"thumb_right_opposition" | 1 | 3 |
"thumb_right_stretch" | 1 | 4 |
"index_right_stretch" | 1 | 5 |
"middle_right_stretch" | 1 | 6 |
"ring_right_stretch" | 1 | 7 |
"pinky_right_stretch" | 1 | 8 |
"thumb_left_opposition" | 1 | 9 |
"thumb_left_stretch" | 2 | 0 |
"index_left_stretch" | 2 | 1 |
"middle_left_stretch" | 2 | 2 |
"ring_left_stretch" | 2 | 3 |
"pinky_left_stretch" | 2 | 4 |
"wrist_left" | 1 | 2 |
"wrist_right" | 3 | 4 |