Adding new sensors

[paoloelle]

Hi all,
I'm trying to add three light sensors to the TurtleBot4. These sensors are the Adafruit TCS34725 RGB color senors that uses the I2C communication protocol. As far as I've seen from the TurtleBot4 docs, in the section User Interface PCBA I should be able to add multiple of them since various GPIOs are available (2,3 8,9, 10,11) that are configurable as SDA, SCL. The problem I'm facing is that I can detect the sensor and read the data if I connect it to the GPIO 2 and GPIO3 but I don't know how to read the data from the other sensors.

[slowrunner]

(Old Post - @paoloelle still around?)

The Raspberry Pi defaults to having one I2C bus and the Adafruit RGB color sensor you linked appears to have a single I2C address 0x29 available, so with normal configuration only one of these sensors may be connected to the default I2C bus.

Configuring a second and third I2C bus with user access and providing the 3.3v to 5v I2C bus level shift/output protection is complicated for sure.

How is your project going?

[paoloelle]

HI @slowrunner I found a way to do that.You can take a look at my answer on Robotics Stack Exchange here.