Add-on board
============

Since 2023, the esieabot has been equipped with a dedicated PCB to control its motors. It also adds new components such as an LED and an integrated button or an analog/digital converter.

.. image:: add-on-board.png
   :width: 300
   :align: center

Components
----------

The esieabot add-on board is equipped with a DRV8411 motor controller from Texas Instrument as well as a TLA2024 analog-to-digital converter. The ADC is connected to the :doc:`Raspberry Pi</understand/raspberrypi/raspberrypi>` I2C bus.


Used pins
---------

The add-on board connects a few components directly to the Raspberry Pi GPIOs as follows:

* Button on GPIO 6
* LED on GPIO 26
* Motor controls on GPIO 17, 22, 23 and 25
* Servo motors on GPIO 18 and 13
* Speed sensors on GPIO 4 and 16