Module	Rev 1: ESP-WROOM (ESP32-WROOM-32D) Rev 2: ESP-WROVER ( ESP32-WROVER-E(M213EH2864PH3Q0) )
Interfaces	BLE (via ESP32) 2.4GHz WiFi (via ESP32) USB – UART – Silicon Labs CP2101N UART (Serial) – onboard through extension header i2c i2s input
Connectors	1 x USB-C 11 x JST-SH style i2c 2 x laptop-battery-connector style i2c JST-SH style i2s input JST-SH style extension header 6-pin keyed battery connector 2-pad interface for speaker
i2c	5v level, up to 3A intermittent, 1A sustained With JST-SH style connectors, pin compatible with STEMMA/QWIIC (note 5v used) 8 spare connectors on RIC daisy chainable also present on extension header, and on two blade style connectors
Speaker	Onboard i2s DAC and amp, two pad connection to Marty’s onboard speaker
Power	6-pin keyed laptop-battery style connector to Robotical battery, or USB power I2C 5v is sourced from battery only 5v on extension connector is powered from battery or USB in. 1A max
Accelerometer	MMA8452Q 3-axis accelerometer
LEDs	Internal power LED Rev 1: 3x RGB LED Rev 2: 5x RGB LED (includes two behind buttons)
Buttons	Power button Function button
Housing	Plastic shield to hold battery in place, and give better interface to the buttons
Extension Header	Rev 1:GNDGNDI2CA_SDAI2CA_SCLI2CB_SDAI2CB_SCLUART RXUART TX5V5VRev 2:GNDGNDI2C_SDAI2C_SCLESP IO14 / HS2_CLK/MTMS3v3UART RXUART TX5V5V

A supplied cable can be used to connect the extension header to a Raspberry Pi single board computer. This connection is designed to provide power as well as a serial connection to the pi

Images

Front of RIC, showing main connectors

Back of RIC, showing buttons, USB connector and LEDs

Underside of RIC, showing i2c connectors for Marty’s legs, speaker connector. Users can optionally solder a microSD card holder or WS2812/SK68XX compatible LED output

RIC with battery installed. LEDs showing on and connected to a WiFi network