Beaglebone: Inputs: Adding a Flora light sensor

Andrew B. Wright, Ph. D., SM ’88

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A Flora light sensor ( part number 1356) is an i2c sensor/led combo that allows a robot to determine colors.  It’s packaging is intended for sewable application, but that’s not helpful for connecting to a robot.

This connector set will allow you to connect this easily to a robot, ideally using Vex ( parts.  The Vex hole pattern has a .5″ spacing and uses .182″ square holes.  These holes clear an 8-32 screw.  The Vex thickness is .046″.

The cover [SLDPRT][STL] holds the sensor in.  It is thin, so it should be printed with > 20% infill (e.g. 80%).

The connector ring [SLDPRT][STL] is designed to be used with .025″ square pins.  You can buy any break-away header with 2.54 mm pitch and push the pins out for reinsertion into the connector ring.  You might want to use bigger infill (e.g. 40%) than the standard.

The connector [SLDPRT][STL] is designed to be used with TE Connectivity p/n 87667-3 pins which can be found at

Wiring the sensor … more to come … need to connect the following from Beaglebone to Flora.

Insert pin mapping here





SDA-2 (daisy chain)

SCL-2 (daisy chain)

Connecting the sensor to a beaglebone … the sensor is an i2c sensor which uses 7-bit address 0x29.

Basic test using linux-based commands and interface

More difficult tests using pru and c-code in real time.

Posted in: Robotics

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