The TNY-360 has a lot of sensors and Integrated Circuits (ICs) that need to be connected and powered properly to function correctly.
This section will give you an overview of how everything is wired up and how the data flows between the different components of the robot.
The TNY-360 has multiple PCBs that handle different aspects of the robot's electronics. Here's a quick overview of their roles:
| PCB Name | Role |
|---|---|
| Main PCB | Hosts the ESP32-S3 microcontroller and manages communication with sensors and other PCBs. |
| Motor Driver PCB | Dedicated to controlling the MG996R servos. |
| Analog Reader PCB | Communication interface between the analog sensors and the microcontroller. |
| Paw PCB | Used for power distribution and interface between the motor driver / analog reader PCBs and the motors. |
| Power PCB | Main power distribution board, used for voltage and current monitoring and for connecting the battery. |
| Plug PCB | Use in the universal plug system to connect modules by exposing connection pads for power & signals. |
For more in-depth information about the PCBs and their design, check out the PCBs section of the documentation.
The TNY-360 uses multiple I2C buses to connect its sensors and ICs. This allows for better organization and decreases the risks of one slow sensor delaying the entire system.
| I2C Bus | Pins | Role | Connected Components |
|---|---|---|---|
| I2C-Fast | GPIO 21 (SDA) & GPIO 47 (SCL) | Dedicated to high-speed sensors and critical components. | IMU, PCA9685, Laser sensor |
| I2C-Slow | GPIO 9 (SDA) & GPIO 46 (SCL) | Used for low-speed sensors and non-critical components. | Screen, Voltage sensor |
Here's a full view of the TNY-360's wiring, showing how the battery, power distribution, motors, microcontroller, and sensors are all connected together.
INSERT DIAGRAM HERE