HARDWARE SENSOR ARRAY & BUS STATUS — PRAHARI-01
Live ADC sampling, I2C IMU, and UART GPS telemetry from physical robot microcontroller.
Distance SensorOFFLINE
HC-SR04 Ultrasonic Rangefinder
N/A
Front obstacle detection radar (range 0.02m - 4.0m)
GPIO 5 (TRIG) / GPIO 18 (ECHO)NO DATA
Hall CurrentOFFLINE
ACS712-30A Current Sensor (Left)
N/A
Measures Left MY1016 motor draw via BTS7960 low-side shunt
ADC1_CH0 (GPIO 36)NO DATA
Hall CurrentOFFLINE
ACS712-30A Current Sensor (Right)
N/A
Measures Right MY1016 motor draw via BTS7960 low-side shunt
ADC1_CH3 (GPIO 39)NO DATA
Analog VoltageOFFLINE
Precision Resistor Voltage Divider
N/A
Scales 36V-42V Li-ion pack voltage down to 0-3.3V ESP32 ADC range
ADC1_CH6 (GPIO 34)NO DATA
Inertial SensorOFFLINE
MPU6050 / 6-DOF IMU Sensor
IMU NOT AVAILABLE
Tri-axis accelerometer & gyroscope motion telemetry
I2C Bus (SDA GPIO 21 / SCL GPIO 22)NO DATA
Position SensorOFFLINE
NEO-6M GPS Satellite Module
GPS UNAVAILABLE
NMEA-0183 high-precision geodetic localization
UART2 (RX GPIO 16 / TX GPIO 17)NO DATA