OpenClaw Peripheral Hardware Configuration

1. Course Overview

This course introduces the default hardware-related configuration files used before operating OpenClaw, with a focus on how to modify the underlying default parameters based on the actual peripherals you have, and complete basic verification.

• Use underlying commands to verify whether modifications have taken effect

2. Hardware Default Configuration File Description

2.1 Configuration File Location

OpenClaw's current hardware default configuration file is located at:

/home/jetson/hardware_hal_demo/hardware_config.py

If you are only following the accompanying tutorial and using the bundled factory hardware, you usually do not need to modify it.

2.2 Current Configuration File Coverage

hardware_config.py mainly contains three types of default configurations:

• OpenClaw firmware serial port default parameters
• OLED default parameters
• CSI camera or USB camera

These default values are read by underlying command-line tools, such as:

• rgb
• oled
• openclaw_adapter
• CAMERA_DEFAULTS

Please note:

• DHT and RGB are currently driven directly by the OpenClaw firmware
• OLED is driven by the motherboard's I2C pins
• CSI camera/USB camera requires checking the hardware connection

3. DHT Current Configuration Features

3.1 Verification Method

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dht   #Get sensor data
dht_oled  #Display sensor data on OLED

Normal terminal output should show the OLED displaying temperature and humidity data.

4. RGB Default Configuration

4.1 Verification Method

After saving, run the following in the terminal:

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rgb color --color red #All lights turn red
rgb effect --effect breathe --color blue --speed 5 #Blue breathing light

Normal terminal output should show the RGB lights displaying correctly.

5. OpenClaw Firmware Serial Port Default Configuration (Servo Verification)

5.1 Current Default Values

The current OpenClaw firmware serial port default parameters are:

• port="/dev/ttyTHS1"
• baudrate=115200

5.2 Modification Example

Edit the configuration file:

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/home/jetson/hardware_hal_demo/hardware_config.py

For Jetson Orin NX, change the values as follows:

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"port": "/dev/ttyTHS1",
"baudrate": 115200,

5.3 Verification Method

After saving, we recommend first testing with a servo or RGB using any underlying command, for example:

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rgb color --color green 

Or:

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servo call-tool Servo1 --action center  #Servo 1 centers to 90 degrees
# All servos return to center position
servo call-tool ServoAll --action set_all --angle1 90 --angle2 90 --angle3 90 --angle4 90

If the commands execute successfully and control the peripherals properly, the serial port link is working.

6. OLED Default Configuration

6.1 Current Default Values

The current OLED default parameters mainly include:

• width=128
• height=32
• interface="i2c"
• i2c_bus="auto"
• i2c_bus_candidates=[1, 0, 7, 8]
• i2c_address=0x3C
• rotate=0
• invert=False
• contrast=255

6.2 Scenarios Suitable for Modification

It is recommended to modify the OLED defaults in the following situations:

• You are using an OLED with a different resolution
• The I2C address is not 0x3C
• The screen orientation needs to be flipped

6.3 Common Modifications

Changing Resolution

For example, change:

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"width": 128,
"height": 32,

To:

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"width": 128,
"height": 64,

Changing I2C Address

For example, change:

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"i2c_address": 0x3C,

To:

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"i2c_address": 0x3D,

Changing Rotation Direction

For example, change:

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"rotate": 0,

To:

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"rotate": 180,

6.4 Verification Method

After saving, run the following in the terminal:

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oled text --text 'Hello OpenClaw' 
oled clear 

If the OLED can display text and clear the screen normally, the configuration has taken effect.

7. Camera Hardware Configuration

7.1 Configuration

Prerequisite: ensure that a CSI camera is connected. The current CSI camera link works mainly through the following two entry points:

If using a USB camera, you can modify the configuration in this file:

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/home/jetson/hardware_hal_demo/hardware_config.py

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# Camera default configuration
# backend: "csi" uses Jetson CSI camera; "usb" uses USB camera
CAMERA_DEFAULTS = {
    "backend": "usb",
    "usb_device": "/dev/video0",
    "usb_format": "auto",
    "width": 1280,
    "height": 720,
    "framerate": 30,
    "flip_method": 2,
    "sensor_id": 0,
}

Camera CLI command path:

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/home/jetson/hardware_hal_demo/cli/seewhat

7.2 Checking Ports

Enter in the terminal:

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ls /dev/video*

Normally, a CSI camera should show one device, video0, and a USB camera should show video0 and video1 devices.

7.3 Photo Verification Method

Enter the following command in the terminal to test the photo capture:

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seewhat call-tool SeeWhat

If the photo is captured successfully, you should see the output file in the following directory:

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/home/jetson/.openclaw/workspace/photos/latest.jpg