# Grove Interface
## Introduction
The product is equipped with four standardized modular connection ports (Grove interfaces), which are widely used in the open-source hardware field.
## Pin Description
| Pin No. | Description |
| :---: | :---: |
| 1 | Signal line, e.g., SCL pin of I²C |
| 2 | Signal line, e.g., SDA pin of I²C |
| 3 | Power positive (VCC) |
| 4 | Power ground (GND) |
## Instructions for Use
The expansion ports located on the top of the ICRobot support a variety of connection functions.
The Port 1 signal pins are directly connected to the ESP32 chip’s GPIO8 and GPIO40, providing greater flexibility.
This port can function either as an I2C interface or as a standard Grove UART port.
In UART mode, the SCL pin corresponds to RX, and the SDA pin corresponds to TX.
This means that, in addition to I2C-compatible modules, some third-party non-I2C communication protocol sensors can also be connected through this port, depending on the specific device type.
The Ports 2–4 are different: they are expanded via an internal PCA9546 multi-channel I2C expander chip.
Therefore, these ports only support I2C protocol modules and are not compatible with devices using other communication protocols.
## Example: Robotic Gripper Object Pickup
### Connection Components:
|  |  |  |
| :---: | :---: | :---: |
| Robotic Gripper ×1 | ICRobot ×1 | Grove Cable ×1 |
Steps:
1. Insert one end of the Grove cable into the gripper’s Grove port (as shown in position “①” above).
2. Connect the other end of the Grove cable to any Grove port on the ICRobot — in this example, to Port 2 (as shown in position “②” above).
### Programming:
### Demonstration
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