diff --git a/api/src/opentrons/drivers/rpi_drivers/gpio.py b/api/src/opentrons/drivers/rpi_drivers/gpio.py
index 5f7d562e23f..d343c485751 100755
--- a/api/src/opentrons/drivers/rpi_drivers/gpio.py
+++ b/api/src/opentrons/drivers/rpi_drivers/gpio.py
@@ -132,6 +132,18 @@ async def setup(self):
         self.set_reset_pin(True)
         await asyncio.sleep(0.25)
 
+    def setup_v1(self):
+        # TODO: AA 07-08-2020 remove when legacy API is deprecated
+        MODULE_LOG.info("Setting up GPIOs for APIv1")
+        self.set_audio_enable(True)
+        # smoothieware programming pins, must be in a known state (HIGH)
+        self.set_halt_pin(True)
+        self.set_isp_pin(True)
+        self.set_reset_pin(False)
+        time.sleep(0.25)
+        self.set_reset_pin(True)
+        time.sleep(0.25)
+
     def set_high(self, output_pin: GPIOPin):
         self.lines[output_pin.name].set_value(1)
 
diff --git a/api/src/opentrons/legacy_api/robot/robot.py b/api/src/opentrons/legacy_api/robot/robot.py
index ba4f3404455..bf7eafed174 100755
--- a/api/src/opentrons/legacy_api/robot/robot.py
+++ b/api/src/opentrons/legacy_api/robot/robot.py
@@ -14,6 +14,8 @@
 
 from opentrons.data_storage import database, old_container_loading,\
     database_migration
+from opentrons.drivers.rpi_drivers import build_gpio_chardev
+from opentrons.drivers.rpi_drivers.gpio_simulator import SimulatingGPIOCharDev
 from opentrons.drivers.smoothie_drivers import driver_3_0
 from opentrons.drivers.types import MoveSplit
 from opentrons.trackers import pose_tracker
@@ -530,7 +532,17 @@ def connect(self, port=None, options=None):
         >>> from opentrons import robot # doctest: +SKIP
         >>> robot.connect() # doctest: +SKIP
         """
-
+        log.info(
+            'Setting up GPIOs for APIv1, expected to fail if opentrons-'
+            'robot-server is already running. This should not affect the '
+            'robot lights behavior in the protocol if it is running using '
+            'the Opentrons App.')
+        gpio_chardev = build_gpio_chardev('gpiochip0')
+        # setup gpio chardev if built successfully
+        if not isinstance(gpio_chardev, SimulatingGPIOCharDev):
+            gpio_chardev.config_by_board_rev()
+            gpio_chardev.setup_v1()
+            self._driver.gpio_chardev = gpio_chardev
         self._driver.connect(port=port)
         self.fw_version = self._driver.get_fw_version()