In platform.ini change line:
build_flags =
'-D ROS_DOMAIN_ID=my_cool_domain_id'Pinout is based on official documentation. Below table show Groove pin names used in maker_pi_pins.h file.
| Name | GPIO | PWM | SPI | I2C | UART | Analog |
|---|---|---|---|---|---|---|
| GROOVE_1_A | 0 | PWM0-A | SDI0 | SDA0 | TX0 | - |
| GROOVE_1_B | 1 | PWM0-B | CSn0 | SCL0 | RX0 | - |
| GROOVE_2_A | 2 | PWM1-A | SCK0 | SDA1 | - | - |
| GROOVE_2_B | 3 | PWM1-B | SDO0 | SCL1 | - | - |
| GROOVE_3_A | 4 | PWM2-A | SDI0 | SDA0 | TX1 | - |
| GROOVE_3_B | 5 | PWM2-B | CSn0 | SCL0 | RX1 | - |
| GROOVE_4_A | 16 | PWM0-A | SDI0 | SDA0 | TX0 | - |
| GROOVE_4_B | 17 | PWM0-B | CSn0 | SCL0 | RX0 | - |
| GROOVE_5_A | 6 | PWM3-A | SCK0 | SDA1 | - | - |
| GROOVE_5_B | 26 | PWM5-A | - | SDA1 | - | ADC0 |
| GROOVE_6_A | 26 | PWM5-A | - | SDA1 | - | ADC0 |
| GROOVE_6_B | 27 | PWM5-B | - | SCL1 | - | ADC1 |
| GROOVE_7_A | 7 | PWM3-B | SDO0 | SCL1 | - | - |
| GROOVE_7_B | 28 | PWM6-A | - | - | - | ADC2 |
| Name | GPIO | Function |
|---|---|---|
| SERVO_0 | 12 | Servo on pin GP12 |
| SERVO_1 | 13 | Servo on pin GP13 |
| SERVO_2 | 14 | Servo on pin GP14 |
| SERVO_3 | 15 | Servo on pin GP15 |
| MOTOR_1_A | 8 | Motor 1 pin A |
| MOTOR_1_B | 9 | Motor 1 pin B |
| MOTOR_2_A | 10 | Motor 2 pin A |
| MOTOR_2_B | 11 | Motor 2 pin B |
| BUTTON_GP_20 | 20 | Button on pin 20 |
| BUTTON_GP_21 | 21 | Button on pin 21 |
| BUZZER | 11 | Buzzer pin |
| RGB_DIODE | 22 | WS2812B pin |
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