SparkFun Auto pHAT for Raspberry Pi

The SparkFun Auto pHAT for Raspberry Pi is a comprehensive robotics package that facilitates the rapid addition of robotic functionality to your Raspberry Pi or other single-board computers. The Auto pHAT is capable of controlling two small DC motors, with or without encoders, and up to four servo motors via an I²C connection. The servo control is an extension of the SparkFun servo pHAT, which uses I²C to free up the Raspberry Pi's GPIO pins for other uses. The Auto pHAT also features a Qwiic connector for easy interfacing with the I²C bus.

The DC motor control is powered by the 4245 PSOC and 2-channel motor ports system, offering 1.2A steady state drive per channel (1.5A peak) and 127 levels of DC drive strength. The Auto pHAT supports up to two motor encoders, courtesy of the onboard ATTINY84A, allowing for highly precise movement.

The Auto pHAT is equipped with an ICM-20948 9DOF IMU for motion sensing. This provides your robot with access to a 3-Axis Gyroscope with four selectable ranges, a 3-Axis Accelerometer, again with four selectable ranges, and a 3-axis magnetometer with an FSR of ±4900µT.

Power can be supplied to the Auto pHAT through a USB-C connector or an external power source. This can be used to power the motors only, or to power both the motors and the connected Raspberry Pi. The design also incorporates power protection circuits to prevent damage to power sources.

Features of the SparkFun Auto pHAT for Raspberry Pi include a 4245 PSOC and 2-channel motor ports programmable using the Qwiic library, onboard ATTINY84A supporting up to two DC motor encoders, a 5v pass-through from RPi, an onboard ICM-20948 9DOF IMU for motion sensing accessible via the Qwiic library, and PWM control for up to four servos. The Auto pHAT also features a Qwiic connector for expansion to the full SparkFun Qwiic ecosystem, is designed for stacking with full header support & the ability to use additional pHATs on top of it, and uninhibited access to the RPi camera connector & display connector. Power is supplied via USB-C for powering the 5V rail (Motors/Servos/backpowering Pi), and external power inputs are broken out to PTH headers.