Outputs

Motors

Robutek uses two DC motors in a differential layout.

Each motor is driven through a DRV8834 H-bridge. Direction and power are controlled by a pair of MCU outputs.

Motor	Control A	Control B
Left	IO11	IO12
Right	IO45	IO13

Typical firmware use: PWM for speed control.

Together with the encoders, they can be used to build a feedback loop, for example with a PID controller.

Servo outputs

The board provides two 3-pin servo connectors:

Connector	Signal pin	Typical use
Servo1	IO21	free / custom use
Servo2	IO38	pen-lift servo

Reference control parameters:

• frequency 50 Hz
• pulse width approximately 0.5 ms to 2.5 ms

Status LED

Status LED:

• IO46

Typical use:

• heartbeat indication
• battery or charging indication
• fault indication

Onboard RGB LEDs

The robot chassis includes several WS2812B RGB LEDs used for backlighting, decoration, and status indication.

• data pin IO48

Practical implications

• These LEDs require a timing-accurate WS2812B driver. Libraries such as SmartLeds or FastLED are recommended.

External LED strip

An external WS2812B strip connects to a dedicated connector:

• data pin IO36