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IntoRobot Fig
ESP32-based IoT development board with cloud integration - ideal for rapid prototyping and remote control.
ESP32
MCU
240MHz
clock
4MB
flash
520KB
SRAM
23· 10 ADC
GPIO
BLE 4.2+ WiFi
radio
Pinout
23 pins| Pin | GPIO | Labels | Status | Capabilities | Notes |
|---|---|---|---|---|---|
| 1 | 0 | KEY_BUILTIN | strapping | - | |
| 2 | 1 | TXPWM | uart | uart | |
| 3 | 2 | A9PWM | strapping | adc | |
| 4 | 3 | RXPWM | uart | uart | |
| 5 | 4 | LED_BUILTIND6T6PWM | strapping | touch | |
| 6 | 5 | SSD5T5PWM | strapping | touch · spi | |
| 7 | 12 | A6PWM | strapping | adc | |
| 8 | 13 | A8PWM | strapping | adc | |
| 9 | 14 | A5PWM | strapping | adc | |
| 10 | 15 | A7PWM | strapping | adc | |
| 11 | 16 | MOSID4T4PWM | strapping | touch · spi | |
| 12 | 17 | MISOD3T3PWM | strapping | touch · spi | |
| 13 | 18 | SCKD2T2PWM | safe | touch · spi | |
| 14 | 19 | SCLD0T0PWM | safe | touch · i2c | |
| 15 | 21 | RGB_G_BUILTINPWM | safe | - | |
| 16 | 22 | RGB_B_BUILTINPWM | safe | - | |
| 17 | 23 | SDAD1T1PWM | safe | touch · i2c | |
| 18 | 25 | A3DAC1PWM | safe | adc · dac | |
| 19 | 26 | A4DAC2PWM | safe | adc · dac | |
| 20 | 27 | RGB_R_BUILTINPWM | safe | - | |
| 21 | 35 | A2 | strapping | adc | |
| 22 | 36 | A0 | strapping | adc | |
| 23 | 39 | A1 | strapping | adc |
Start with these
8 pins with no boot or system involvementSCKD2SCLD0RGB_G_BUILTINPWMRGB_B_BUILTINPWMSDAD1A3DAC1A4DAC2RGB_R_BUILTINPWM
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 |
|---|---|---|---|
| KEY_BUILTIN | GPIO0 | Must be HIGH during boot for normal startup; if held LOW on reset, forces flash programming mode. | Strapping |
| A9 | GPIO2 | If driven HIGH on reset (while IO0 is LOW), selects an unsupported SDIO boot mode, causing boot failure. | Strapping |
| LED_BUILTIN | GPIO4 | Sampled at reset for boot config; should not be driven at boot (affects boot mode timing). | Strapping |
| SS | GPIO5 | Must be HIGH during boot; if pulled LOW at reset, alters SDIO slave timing and may prevent normal boot. | Strapping |
| A6 | 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 |
| A8 | MTCK (GPIO13) | Used for JTAG debugging (TCK); avoid using as GPIO if JTAG is needed. | Other |
| A5 | MTMS (GPIO14) | Used for JTAG debugging (TMS); driving it as GPIO may interfere with JTAG or produce spurious signals at boot. | Other |
| A7 | MTDO (GPIO15) | Keep HIGH during boot (internal PU); if LOW on reset, bootloader log is silenced and boot mode may change. | Strapping |
| A2 | GPIO35 | Cannot be used as output; only suitable for input. | Other |
| A0 | 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 |
|---|---|---|---|
| TX | U0TXD (GPIO1) | Connected to on-board USB-UART for uploading and logs; drives serial output at boot, so using as GPIO can disrupt programming or console. | USB |
| RX | U0RXD (GPIO3) | Used for receiving data from USB-UART (programming); also pulled HIGH at boot for console communication, so using as GPIO can disrupt uploads. | USB |
| MOSI | GPIO16 | Connected to internal PSRAM on PSRAM-enabled modules; not usable as GPIO on those modules. | Flash |
| MISO | 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 All 23 pins on the IntoRobot Fig are usable GPIO. Peripheral wiring is straightforward: I²C is mapped to SDA on GPIO23 and SCL on GPIO19; the SPI bus ( MOSI ,…
All 23 pins on the IntoRobot Fig are usable GPIO.
Peripheral wiring is straightforward: I²C is mapped to SDA on GPIO23 and SCL on GPIO19; the SPI bus (MOSI, MISO, SCK, SS) is broken out in full; TX/RX on GPIO1 and GPIO3 cover serial logging and flashing.
Beyond plain digital I/O you get 10 ADC-capable pins for sensors and battery monitoring, 7 capacitive-touch inputs and 2 true DAC outputs.
11 of the exposed pins carry boot-time or system duties on the ESP32 (KEY_BUILTIN, A9, LED_BUILTIN and 8 more) - check the guidance above before wiring anything to them. SCK, SCL, RGB_G_BUILTIN, RGB_B_BUILTIN and 4 more are free of any such role - the safest first picks.
Getting started
flash your first firmware in ~2 minutes1
Connect over USB
Uses a CP2104 bridge - install the CP210x driver if no port appears. Not detected? Hold BOOT while plugging in.
2
Match & flash
Set the Tools options shown, then click Upload.
3
Verify it runs
The onboard LED on GPIO18 blinks - swap the pin if your board's LED differs.
Set these in Tools · leave everything else at default
Arduino IDE 2.x — Tools Copy
Board: "ESP32 Dev Module"▸
Flash Size: "4MB (32Mb)"▸
Flash Mode: "DIO"▸
Partition Scheme: "Default 4MB with spiffs (1.2MB APP / 1.5MB SPIFFS)" (default)▸
Upload Speed: "921600"▸
▸ every other Tools option — leave at default
Board: ESP32 Dev Module Flash Size: 4MB (32Mb) Flash Mode: DIO Partition Scheme: Default 4MB with spiffs (1.2MB APP / 1.5MB SPIFFS) Upload Speed: 921600
Find it: Tools ▸ Board ▸ ESP32 Arduino ▸ ESP32 Dev Module
// blink the onboard LED
void setup() {
pinMode(18, OUTPUT);
}
void loop() {
digitalWrite(18, HIGH); delay(500);
digitalWrite(18, LOW); delay(500);
}board to selectesp32dev⧉ copy
[env:intorobot-fig]
platform = espressif32
board = esp32dev
framework = arduino
monitor_speed = 115200
upload_speed = 921600Find it: PlatformIO Home ▸ Boards, search
esp32dev — or type it after board =.board to selectesp32dev⧉ copy
esp32:
board: esp32dev
variant: intorobot-fig
framework:
type: esp-idf
# blink - GPIO18
output:
- platform: gpio
pin: 18
id: led_out
light:
- platform: binary
name: "LED"
output: led_outFind it: search ESPHome's board list for
esp32dev (same ids as PlatformIO).esptool doesn't pick board settings — a prebuilt .bin already has them baked in. This is just the raw flash command.
esptool.py --chip esp32 --port /dev/ttyACM0 \
--baud 921600 write_flash 0x0 firmware.bin--port = your /dev/tty* (macOS/Linux) or COMx (Windows).Build details: sketch space 1310720 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
23 · 10
UART · I²C · SPI
3 · 2 · 4
PWM
16 channels
Power
USB
Micro-USB
Serial
CP2104
Boot address
0x1000
Flashing
Upload · OTA
esptool_py · esp_ota
Flash · Boot mode
DIO · DIO
Sketch · Data
1.25 MB · 320 KB
The IntoRobot Fig 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 1.25 MB with 320 KB available for data.
About this board
Inside sits the ESP32 - a dual-core Xtensa with both Bluetooth Classic and BLE.
Resources
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