I2C Display

Table of contents

  1. Overview
  2. Hardware
  3. Target Software
  4. Usage
  5. Hardware Setup


Here at ModalAI, Inc. we like to use a small I2C display on our robot to give us some visual feedback on what is happening in, for example, the boot up sequence.

We are use a 0.96” 128x64 ssd1306 OLED display.

Here is a link to the one we use: Amazon page



  • Custom cable with the following pinout:
VOXL - J10, DF13-6S-1.25C connector I2C Display
Pin 1 - 3.3V VCC
Pin 2 - TX NC
Pin 3 - RX NC
Pin 4 - SDA SDA
Pin 5 - GND GND
Pin 6 - SCL SCL

Target Software

  • Download the i2c_display package here
  • Install the package to the target:
adb push i2c_display_x.x.x.ipk /home/root/ipk
adb shell "opkg install /home/root/ipk/i2c_display_x.x.x.ipk"


Once the software package has been installed you use the command i2c_display. If you do not supply an argument it will display the ModalAI, Inc. splash screen. Otherwise you can give it a one or two word phrase to put on the display. For example: i2c_display "TIME INIT"

Hardware Setup

  • Disconnect power from the VOXL
  • Connect the VOXL’s J10 to the i2c display using the custom cable described above
  • Reconnect power

Copyright (c) 2019 ModalAI Inc.