CLEARPATH Turtlebot4 User Manual page 88

User I/O
The TurtleBot 4 has a 2x20 pin internal connector connecting it to the Raspberry Pi via a flex
cable, and another 2x12 pin connector allowing the user to access the remaining GPIOs and a
set of 5V, and 3.3V power pins coming from the Raspberry Pi.
The IO interface between the 2x20 connector and 2x12 connector and the available GPIOs to
the user are shown in Table 1, and 2. The GPIO numbers are a direct match to the Raspberry Pi
4 GPIO.
Table 1: 2x20 RPi Connector Pinout
GPIO # Function
3V3_RPi
GPIO2 USER_PORT
GPIO3 USER_PORT
GPIO4 SDA
GND
GPIO17 PWR_LED
GPIO27 COMM_LED
GPIO22 BATT_GRN_LED
3V3_RPi
GPIO10 USER_PORT
GPIO9 USER_PORT
GPIO11 USER_PORT
GND
GPIO0 EEPROM_SD
GPIO5 SCL
Pin # Pin #
1 2 5V_RPi
3 4 5V_RPi
5 6 GND
7 8 USER_PORT
9 10 USER_PORT
11 12 MTR_LED
13 14 GND
15 16 BATT_RED_LED
17 18 WIFI_LED
19 20 GND
21 22 USER1_GRN_LED
23 24 USER_PORT
25 26 USER_PORT
27 28 EEPROM_SC
29 30 GND
Function GPIO #
GPIO14
GPIO15
GPIO18
GPIO23
GPIO24
GPIO25
GPIO8
GPIO7
GPIO1