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OROCA EduBot
ESP32-based robotics platform - designed for hands-on education in embedded programming and robotics.
ESP32
MCU
240MHz
clock
4MB
flash
520KB
SRAM
22· 4 ADC
GPIO
BLE 4.2+ WiFi
radio
Pinout
23 pins| Pin | GPIO | Labels | Status | Capabilities | Notes |
|---|---|---|---|---|---|
| 1 | 0 | T1 | strapping | touch | |
| 2 | 2 | SST2PWM | strapping | touch · spi | |
| 3 | 4 | D0T0PWM | strapping | touch | |
| 4 | 5 | SCKD5PWM | strapping | spi | |
| 5 | 12 | T5PWM | strapping | touch | |
| 6 | 13 | LED_BUILTINT4PWM | strapping | touch | |
| 7 | 14 | T6PWM | strapping | touch | |
| 8 | 15 | T3PWM | strapping | touch | |
| 9 | 16 | RXD1PWM | strapping | uart | |
| 10 | 17 | TXD2PWM | strapping | uart | |
| 11 | 18 | MOSID6PWM | safe | spi | |
| 12 | 19 | MISOD7PWM | safe | spi | |
| 13 | 22 | SCLD3PWM | safe | i2c | |
| 14 | 23 | SDAD4PWM | safe | i2c | |
| 15 | 25 | DAC1PWM | safe | dac | |
| 16 | 26 | DAC2PWM | safe | dac | |
| 17 | 27 | T7PWM | safe | touch | |
| 18 | 32 | T9PWM | safe | touch | |
| 19 | 33 | A3D8T8PWM | safe | adc · touch | |
| 20 | 34 | A0 | strapping | adc | |
| 21 | 35 | VBAT | power | - | |
| 22 | 36 | A2 | strapping | adc | |
| 23 | 39 | A1 | strapping | adc |
Start with these
9 pins with no boot or system involvementMOSID6MISOD7SCLD3SDAD4DAC1PWMDAC2PWMT7PWMT9PWMA3D8
Freely assignable - no strapping, flash, USB or JTAG duties. Ideal first picks for buttons, sensors and LEDs.
Fine - with a little care
sampled at boot or shared with debug/serial| Pin | Label | What to know | Role |
|---|---|---|---|
| T1 | GPIO0 | Must be HIGH during boot for normal startup; if held LOW on reset, forces flash programming mode. | Strapping |
| SS | GPIO2 | If driven HIGH on reset (while IO0 is LOW), selects an unsupported SDIO boot mode, causing boot failure. | Strapping |
| D0 | GPIO4 | Sampled at reset for boot config; should not be driven at boot (affects boot mode timing). | Strapping |
| SCK | GPIO5 | Must be HIGH during boot; if pulled LOW at reset, alters SDIO slave timing and may prevent normal boot. | Strapping |
| T5 | MTDI (GPIO12) | Keep LOW during boot (internal PD); pulling HIGH at reset selects 1.8V flash mode, causing flash brownout if 3.3V flash is used. | Strapping |
| LED_BUILTIN | MTCK (GPIO13) | Used for JTAG debugging (TCK); avoid using as GPIO if JTAG is needed. | Other |
| T6 | MTMS (GPIO14) | Used for JTAG debugging (TMS); driving it as GPIO may interfere with JTAG or produce spurious signals at boot. | Other |
| T3 | MTDO (GPIO15) | Keep HIGH during boot (internal PU); if LOW on reset, bootloader log is silenced and boot mode may change. | Strapping |
| A0 | GPIO34 | Cannot be used as output (no drive capability); only suitable for analog/digital input. | Other |
| A2 | GPIO36 (SENSOR_VP) | Cannot be used as output; only suitable for input (e.g., analog read). | Other |
| A1 | GPIO39 (SENSOR_VN) | Cannot be used as output; only suitable for input. | Other |
Only if you know the tricks
wired to flash or USB - expect a fight| Pin | Label | What to know | Role |
|---|---|---|---|
| RX | GPIO16 | Connected to internal PSRAM on PSRAM-enabled modules; not usable as GPIO on those modules. | Flash |
| TX | GPIO17 | Connected to internal PSRAM on PSRAM-enabled modules; not usable as GPIO on those modules. | Flash |
These are recommendations, not hard rules - with the right pull-ups, timing and boot-state awareness most pins can be made to work. When in doubt, start green.
Pinout notes The OROCA EduBot pinout brings out 23 pins - 22 usable GPIO alongside the VBAT power rails. For peripherals, I²C is mapped to SDA on GPIO23 and SCL on GPIO22;…
The OROCA EduBot pinout brings out 23 pins - 22 usable GPIO alongside the VBAT power rails.
For peripherals, I²C is mapped to SDA on GPIO23 and SCL on GPIO22; the SPI bus (MOSI, MISO, SCK, SS) is broken out in full; TX/RX on GPIO17 and GPIO16 cover serial logging and flashing.
On the analog side there are 4 ADC-capable pins for sensors and battery monitoring, 10 capacitive-touch inputs and 2 true DAC outputs.
If you want zero surprises, MOSI, MISO, SCL, SDA and 5 more are free of any such role - the safest first picks. 11 of the exposed pins carry boot-time or system duties on the ESP32 (T1, SS, D0 and 8 more).
Getting started
flash your first firmware in ~2 minutes1
Connect over USB
Serial chip: onboard. Not detected? Hold BOOT while plugging in.
2
Flash with your tool
Arduino IDE, PlatformIO, ESPHome or esptool - copy the settings on the right.
3
Verify it runs
The blink example uses GPIO18 - swap for your board's LED pin if different.
Board: Oroca Edubot
Flash Size: 4MB · DIO
Upload Speed: 921600
// blink
pinMode(18, OUTPUT);
digitalWrite(18, LOW); // on (often inverted)[env:oroca_edubot]
platform = espressif32
board = esp32dev
framework = arduino
monitor_speed = 115200
upload_speed = 921600esp32:
board: esp32dev
variant: oroca_edubot
framework:
type: esp-idf
# blink - GPIO18
output:
- platform: gpio
pin: 18
id: led_out
light:
- platform: binary
name: "LED"
output: led_outesptool.py --chip esp32 --port /dev/ttyACM0 \
write_flash 0x0 firmware.binBuild details: sketch space 3145728 B · data 327680 B · DIO
Specifications
ESP32Compute
MCU
ESP32
Clock
240 MHz
SRAM · Flash
520 KB · 4MB
Radio
Wi-Fi
802.11 b/g/n
Bluetooth
4.2 LE
Antenna
PCB
I/O
GPIO · ADC
22 · 4
UART · I²C · SPI
3 · 2 · 4
PWM
16 channels
Power
USB
-
Serial
-
Boot address
0x1000
Flashing
Upload · OTA
esptool_py · esp_ota
Flash · Boot mode
DIO · DIO
Sketch · Data
3 MB · 320 KB
The OROCA EduBot uses esptool_py for firmware uploads, esp_ota for over-the-air (OTA) updates. Flash mode is DIO with DIO boot mode. The maximum sketch size is 3 MB with 320 KB available for data.
About this board
At its core is the ESP32 - a dual-core Xtensa with both Bluetooth Classic and BLE.
Onboard you'll find an amplifier (MAX98357), an MPU9250 IMU and User buttons.
- Dual GM15BY geared stepper motors for differential drive (mm-precision movement)
- Expansion board: SSD1306 128x64 OLED, dual VL53L0X ToF distance sensors, NeoPixel RGB LED, IR receiver and line-tracing floor sensors
- On-board battery voltage monitoring (VBAT)
Resources
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