Data Sheet

Core Spartan Documentation Modern Robotics, Inc
Version 3.0.3 Page 38
9. Four Wire Digital I2C Sensors
All four-wire sensor are I2C sensors.I2C stands for Inter-Integrated Circuit and it is used for
communication between multiple devices. Will all MR I2C sensors there are 4 wires coming
from the device: Black, Red, Yellow and White. The black wire is the ground wire and must
line up with the black bar on the right side of the port. The red wire is the power wire that
connects to 5V for all of the sensors to operate on. The yellow wire is the serial data (SDA)
and this wire is the wire responsible for the transfer of data between the mater and the
slave devices. The white wire is the serial clock (SCL) and this wire is very important as I2C
communication relies on the clock signal for sending out and receiving in data on the yellow
wire. The I2C uses address, registers and commands to read to and write from sensors. Each
sensor has its own I2C address associated with it. If you intend to use two of the same
sensor, you must change the address of one of the sensors. The I2C ports on the Core
Spartan Controller are all connected to the same I2C bus. Therefore, the I2C port that you
connect your sensor to is arbitrary. Each sensor has its own object declaration that must be
called at the beginning of user code. The object declaration name is arbitrary and an object
declaration must be called for each sensor being used. If there are two of the same sensors,
the declaration must be called twice and they must have different names. Please refer to
the object declaration section (section 4.3) of this document for a more detailed
explanation.
+5V SDA SCL Ground