RoboHeart Hercules

Development Board

Code name: roboheart_hercules

ESP32

RoboHeart Hercules is a development board based on the ESP32 microcontroller using XTENSA architecture.

This board features a maximum CPU frequency of 240 MHz and 4MB flash memory.

About RoboHeart Hercules

ESP32-powered robotics board with motor drivers and sensor inputs - great for educational robotics kits.

Technical Specifications

Complete technical specification details for RoboHeart Hercules

Connectivity

WiFi 802.11 b/g/n (2.4 GHz)

Bluetooth 4.2

BLE 4.2

Microcontroller

Model esp32

Clock Speed 240 MHz

Flash Size 4MB

Architecture xtensa

✨ Features & Pins

Digital IO 20

Analog Input 16

PWM 21

Interrupts 16

Quick Setup

Copy-paste configs for RoboHeart Hercules - auto‑generated from this board's exact hardware specs.

ESP32 240 MHz 4MB DIO Xtensa

In Arduino IDE 2 select Roboheart Hercules from the esp32 by Espressif package. In PlatformIO use board = esp32dev. ESP32 · 240 MHz · 4MB · DIO.

Tools menu settings

Board (select in Arduino IDE) Roboheart Hercules

CPU Frequency 240 MHz

Flash Size 4MB

Flash Mode DIO

Upload Speed 921600

Architecture Xtensa

In Arduino IDE 2, open Boards Manager, search "esp32" by Espressif and install it. Then go to Tools → Board and select "Roboheart Hercules" for the RoboHeart Hercules.

platformio.ini


[env:roboheart_hercules]
platform  = espressif32
board     = esp32dev
framework = arduino

; Exact hardware config for RoboHeart Hercules
board_build.mcu        = esp32
board_build.f_cpu      = 240000000L
board_build.flash_size = 4MB
board_build.flash_mode = dio
board_upload.flash_size = 4MB

The board value is a close generic match - check PlatformIO board registry for an exact fit.

esp32: block (YAML)


esp32:
  board: esp32dev
  framework:
    type: arduino   # or "esp-idf"

# RoboHeart Hercules - 240 MHz ESP32
# Flash: 4MB | USB: N/A

Paste into your device's .yaml. See ESPHome ESP32 docs for full options.

esptool.py - flash command


esptool.py \
  --chip esp32 \
  --baud 921600 \
  write_flash \
    --flash_mode dio \
    --flash_size 4MB \
    0x1000 bootloader.bin \
    0x8000    partitions.bin \
    0xe000    boot_app0.bin \
    0x10000   firmware.bin

Install: pip install esptool - replace firmware.bin with your binary - bootloader at 0x1000

Useful Links

Datasheets and resources for RoboHeart Hercules

ESP32 Datasheet

Microcontroller reference

Pin Mappings

Complete pinout and GPIO mapping for RoboHeart Hercules

Digital I/O Pins

Interrupt Pins

Analog Inputs

PWM Pins

Pin	Analog	PWM	Other
0	A11		BUTTON_ROBOHEART G0
1		PWM	G1
2	A12	PWM	SLEEP_MOTOR_ABC G2
3		PWM	G3
4	A10	PWM	MOTOR_C_IN2
5		PWM	SS G5
12	A15	PWM	GSM_PWRKEY G12
13	A14	PWM	GSM_DTR G13
14	A16	PWM	LED_ROBOHEART GSM_RTS
15	A13	PWM	GSM_CTS G15
16		PWM	RXD1 RXD2 G16
17		PWM	TXD1 TXD2 G17
18		PWM	SCK G18
19		PWM	MISO G19
21		PWM	IMU_SDA SDA G21
22		PWM	IMU_SCL SCL G22
23		PWM	MOSI G23
25	A18	PWM	MOTOR_A_IN1 G25 DAC1
26	A19	PWM	MOTOR_A_IN2 G26 DAC2
27	A17	PWM	MOTOR_B_IN1
32	A4	PWM	MOTOR_B_IN2
33	A5	PWM	MOTOR_C_IN1
34	A6		RX G34
35	A7		TX G35
36	A0		BATTERY_PIN G36
39	A3

Legend

A0 Analog input

T0 Touch sensor

PWM PWM capable

RX/TX Serial pins

LED Built-in LED

# Pin number

Default Tools & Configuration

Build and upload settings for RoboHeart Hercules

Setting	Value
Uploader tool	esptool_py
Bootloader address	`0x1000`
Flash mode	dio
Boot mode	dio
Maximum upload size	1280 KB (1310720 bytes)
Maximum data size	320 KB (327680 bytes)