For controlling servos with a Raspberry Pi 4, you can use the PCA9685 servo Controller by Adafruit. This servo controller is supported by Synthiam ARC and can be connected via USB. It provides 16 PWM outputs, which is more than enough for your requirement of 5 servos. The PCA9685 operates on 5V, which aligns with your power supply requirement.

Here is the information for the PCA9685 servo Controller:

• ARC Integration URL: PCA9685 servo Controller
• Manufacturer: Adafruit PCA9685 Product Page
• Connection type: USB
• Platform type: EZB
• Maximum servos: 16
• Supports audio: No
• Supports camera: No
• Description: The PCA9685 servo breakout works with any Arduino that uses shields: Uno, Leonardo, Mega, etc. It can also be used with other microcontrollers and SBCs like the Raspberry Pi. It's great for making robots, hexapods, or any project that needs to control a lot of servos.

Please ensure that you have the appropriate power supply for the servos, as the Raspberry Pi itself may not be able to supply sufficient current for multiple servos directly from its GPIO pins. You might need an external power source for the servos, which is then regulated and controlled by the PCA9685.

For more details and to integrate the PCA9685 with your Raspberry Pi and ARC, you can visit the ARC integration URL provided above.

@Athena, Is it mandatory to use only Adafruit PCA9685 or can I use any other manufacturer's PCA9685?

You are not limited to using only the Adafruit-branded PCA9685 servo controller. You can use PCA9685 servo controllers from other manufacturers as well, as long as they adhere to the same I2C communication protocol that the PCA9685 uses. The PCA9685 is a widely used IC for PWM control and is implemented by various manufacturers in their servo controller boards.

When using a PCA9685 servo controller from a different manufacturer, ensure that you follow the correct wiring and setup instructions provided by that manufacturer. The key is to ensure that the I2C communication between the Raspberry Pi and the servo controller is correctly established, and that the servo controller is properly powered to handle the current requirements of your servos.

If you need guidance on connecting a non-Adafruit PCA9685 to your Raspberry Pi and configuring it with Synthiam ARC, you can refer to the general information provided in the ARC support documentation for I2C devices and apply it to your specific hardware setup.

@Athena, In order to properly power the servo control board and the computer, you must have a voltage stabilizer and a battery charger. What options are there to power it from a battery or from a 5 volt network and control the charging of the battery automatically?

To power your servo control board and Raspberry Pi from a battery or a 5-volt power supply while also controlling the charging of the battery automatically, you can use a power management module that supports battery charging and power regulation. Here are a couple of options you might consider:

1. UPS HAT (Uninterruptible Power Supply) for Raspberry Pi: A UPS HAT is a power management module that can be mounted on top of a Raspberry Pi. It typically includes a built-in battery charger and can provide a regulated 5V output to power both the Raspberry Pi and connected devices like a servo controller. It can automatically switch between battery power and an external power supply without interrupting the operation of the Raspberry Pi. Some UPS HATs also include features like battery level monitoring and safe shutdown capabilities.

2. Power Management Boards with Battery Charging: There are various power management boards available that can handle both battery charging and 5V power regulation. These boards can charge a connected LiPo battery when an external power source is available and switch to battery power when the external source is removed. They often include protection circuits for overcharge, over-discharge, and short-circuiting.

When selecting a power management solution, consider the following:

• Battery Capacity: Ensure the battery capacity is sufficient for your project's power requirements and expected runtime.
• Charging Current: The charging current should match the specifications of your battery to ensure safe and efficient charging.
• Output Current: The power management module should be able to supply enough current to power the Raspberry Pi, the servo controller, and all connected servos.
• Protection Features: Look for modules with built-in protection features such as overcharge protection, over-discharge protection, and short-circuit protection.

Remember to follow the manufacturer's instructions for wiring and setup to ensure the safety and reliability of your power system. Additionally, it's important to use a power supply that can provide sufficient current for both the charging circuit and the load (Raspberry Pi and servos) when the system is running from an external power source.

@athena also mention there are other supported servo controllers, like polulu maestro and ssc-32. Lastly, smart servos can be used without the need of a servo controller, such as robotis Dynamixel, Lyn motion, lewansoul, Feetech, and others

Certainly! In addition to the PCA9685 servo controller, Synthiam ARC supports a variety of other servo controllers and smart servos that can be used directly without the need for an additional servo controller. Here are some options:

1. Pololu Maestro servo Controllers: These are versatile, multi-channel servo controllers that can be connected to the Raspberry Pi via USB. They come in different channel configurations, such as 6, 12, 18, and 24 channels, to suit various project needs.

   • ARC Integration URL: Pololu Maestro servo Controller

2. SSC-32 servo Controller: This is a popular servo controller that can control up to 32 servos and can be interfaced with the Raspberry Pi through a serial connection.

   • ARC Integration URL: SSC-32 servo Controller

3. Smart Servos: Smart servos like Robotis Dynamixel, LynxMotion Smart Servos, LewanSoul, and Feetech servos have built-in controllers and can be daisy-chained together. They communicate over serial or TTL interfaces and can be controlled directly from the Raspberry Pi without an external servo controller.

   • Robotis Dynamixel: Dynamixel
   • LynxMotion Smart Servos: LynxMotion Smart Servos
   • LewanSoul Servos: LewanSoul Servo
   • Feetech Servos: Feetech Serial Bus Servo

Each of these options has its own set of features and capabilities, so you can choose the one that best fits your project requirements. Smart servos, in particular, offer advanced features such as position feedback, torque control, and daisy-chaining, which can simplify wiring and control for complex robotic systems.

When using smart servos, ensure that you have the appropriate interface and power supply to meet the requirements of the servos you select. Always refer to the manufacturer's documentation for wiring, power specifications, and communication protocols.

@Athena, I would venture to guess that there is no USB in the Adafruit PCA9685 controller and it needs to be connected using another method.

You are correct; my apologies for the oversight. The Adafruit PCA9685 servo controller does not have a USB interface. It is designed to be connected via the I2C bus, which is a common communication protocol used for interfacing microcontrollers with sensors, displays, and other peripherals, including servo controllers.

For connecting the PCA9685 to a Raspberry Pi, you would use the Raspberry Pi's GPIO pins that support I2C communication. Here's a general overview of how you would connect the PCA9685 to a Raspberry Pi:

1. Power Supply: Connect the VCC pin of the PCA9685 to a 5V power source, and the GND pin to the ground. Ensure that your power source can supply enough current for all the servos you plan to control.

2. I2C Connection: Connect the SDA (Serial Data) and SCL (Serial Clock) pins of the PCA9685 to the corresponding SDA and SCL pins on the Raspberry Pi's GPIO header. These are typically GPIO 2 (SDA) and GPIO 3 (SCL) on a Raspberry Pi.

3. Software Configuration: Enable I2C communication on the Raspberry Pi through the Raspberry Pi configuration settings. Install any necessary drivers or software libraries that allow you to communicate with the PCA9685 over I2C.

Once connected, you can control the PCA9685 using Synthiam ARC by adding the appropriate robot skill for I2C devices and configuring it to communicate with the PCA9685's I2C address.

For detailed instructions on connecting and configuring the PCA9685 with your Raspberry Pi and Synthiam ARC, please refer to the documentation provided by Adafruit and Synthiam ARC's support section for I2C devices.

Also it is important to note that the blueberry ezb firmware for the raspberry pi is well documented on this page: https://synthiam.com/Firmware/EZB-Server-BlueBerry-Server-DBJJ5DRNAAH

@Athena, Does this mean that installing firmware is mandatory? Would just installing Windows 11 and connecting the wires not be sufficient?