Lexo is an open-source Arduino library developed for the Lexo Exoskeleton, providing a simple API to control and monitor a range of sensors and actuators such as:

• IMU (via I²C)
• EMG sensor
• Force sensors
• Magnetic angle encoder (AS5600 via I²C)
• INA219 current sensors (for motor and battery)
• Push buttons
• Vibration motors
• RGB LEDs
• Motor control (PWM + direction)
• Buzzer

• Abstracted pin management with default configuration and override support
• Built-in support for I²C-based peripherals (AS5600, INA219)
• Lightweight and ESP32-compatible
• Includes example sketches for easy testing