Analog reader
The analog reader is a 74HC4067 analog multiplexer. It lets the ESP32-S3 read the position feedback of the 12 body motors and the four contact switches through a shared ADC path.
Useful links
Go to the Assembly Step
Go to the assembly step where the analog reader is being installed.
Board reference
Role
- select one of the analog channels through the
74HC4067; - read feedback from the 12 body motors;
- read the four contact-switch signals;
- send the selected signal to an ESP32-S3 ADC input.
Location
The board is installed directly on the backbone with 2 mm headers.
Main topics
74HC4067multiplexer and channel mapping;- 12 motor position-feedback inputs;
- four contact-switch inputs;
- multiplexer selection and ADC signals;
- 2 mm header connections to the backbone.
Pinout
Add a photo of the board with numbered pins here, followed by the completed table:
| Pin | Header | Signal | Connected subsystem | Notes |
|---|---|---|---|---|
| 1 | To be numbered | To be completed | To be completed | To be completed |
The two ear motors do not have position feedback and are therefore not connected to this reader.
Status LED
The analog reader has an addressable LED that can report the state of the analog-reading subsystem independently, for example by turning red when its diagnostic checks fail.
See Hardware abstraction for the runtime analog configuration.