Channel Map

Channel map

Which part is on which output. The firmware (hardware.py) and the simulator both expect exactly this, so the wiring must match.

PCA9685 (Servo FeatherWing), 50 Hz

Channel	Part	Notes
0	Right wing servo	Pulse 544–2400 µs. A lower angle lifts the wing higher.
1	Left wing servo	Pulse 544–2400 µs. Mounted inverted; calibrated with SERVO2_* and BREATH_SERVO2_*.
2	Main eye, red	Driven as a 360° "servo", pulse 0–6550 µs.
3	Main eye, green	As above.
4	Main eye, blue	As above.
5	Small eye, red	As above.
6	Small eye, green	As above.
7	Small eye, blue	As above.
8–15	Free	Not used. Available for new hardware.

Feather pins

Pin	Part	Notes
EXTERNAL_NEOPIXELS	White LED	pwmio.PWMOut at 5 kHz; duty 0–65535. Idle glow is WHITE_LED_IDLE_DUTY.
EXTERNAL_POWER	Power for external parts	Turned on at start-up.
SCL, SDA	I²C bus	Shared by the PCA9685 and the built-in LIS3DH.
ACCELEROMETER_INTERRUPT	LIS3DH interrupt	Range set to ±4 g.
I2S_BIT_CLOCK, I2S_WORD_SELECT, I2S_DATA	Speaker amplifier	Mixer: 22050 Hz, stereo, 16-bit signed.
LED	Board's red LED

Why the eyes never reach full brightness

A 0–6550 µs pulse in a 20 ms (50 Hz) period is at most about 32.8% duty. That's how the robot is built, and the simulator shows the same: its PCA9685 panel treats 6550 µs as full brightness.