External Modules

Shared I2C bus

Robutek exposes a shared I2C bus for smart peripherals and external sensors.

Signal	Pin
SDA	IO10
SCL	IO3

Internal use:

• onboard color sensor
• support logic for battery management used by the reference firmware

The same bus is available to external modules.

VL53L0X distance sensor

The optional distance sensor connects through I2C.

What it provides

• optical distance measurement
• output in millimeters
• additional quality-related values in the supplied driver

Integration notes

• place it so the optical window is not blocked
• keep line of sight clear
• avoid relying on a single reading when the target surface is dark or angled
• if multiple I2C devices are used, make sure addresses do not conflict

External color sensor

The optional external RGB sensor also connects to the shared I2C bus.

The supplied driver distinguishes the built-in and external sensor by address:

• built-in sensor address: 0x43
• external sensor address: 0x42

Both sensors can coexist on the same bus if the correct address configuration is preserved.

What it measures

• red
• green
• blue
• infrared
• clear light

Usability of the results depends on calibration and stable measurement geometry.

Simple digital accessories

Simple accessories with signal, power, and ground are also supported:

• button modules
• servo mechanisms
• LED strips with a dedicated data line

These modules are not tied to Jaculus. Firmware requirements:

• digital input for buttons
• PWM for servo signal
• WS2812B timing for addressable LEDs
• I2C communication for smart sensors