Internal Buses

The robot's main computer (Raspberry Pi 5) talks to several microcontrollers over dedicated buses. Each bus is documented on its own page:

• Raspberry Pi 5 ↔ Pico 2 — UART link driving the legs: motion, tuning and balance telemetry commands, link-loss behavior.
• Raspberry Pi 5 ↔ Xiao RP2350 — I2C link for the head: servomotor targets, filtered pose feedback, sensor status.
• Raspberry Pi 5 ↔ Arduino Nano Every — bus for the torso: fan control, LED matrix modes, sensors and power telemetry.