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
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