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Self balancing robot v2

arthurlawson·self-balancing-robot-v2·hardware/electronics/source/esp32_self_balancing_robot.kicad_pcb

Self balancing robot v2 PCB layout, top view — open source ESP32 board by arthurlawson

About the Self balancing robot v2 PCB

Self balancing robot v2 is an open source ESP32 PCB design by arthurlawson, published on GitHub under the MIT license. It is a 2-layer board measuring 80 × 66 mm, with 21 components from 14 distinct parts.

Its main chip is the ESP32-S3-DevKitC, from the ESP32 family. By type, the board carries 8 resistors, 6 connectors, 5 capacitors and 2 transistors.

It belongs with the robotics & motion, power & battery and audio designs in this gallery.

From the project

ESP32-S3 (N16R8) drivable self-balancing robot with a custom Kalman filter & PID control system. Built on PlatformIO featuring an MPU6050 IMU, DRV8833 motor driver to drive 2 BDC TT Motors, and 2S LiPo battery. Includes active battery safety monitoring, lighting, and onboard speakers.

An advanced self-balancing robot utilizing the ESP32-S3 (N16R8) computing core, driven by a custom Kalman Filter and high-frequency PID control loop system.

This project features a fully custom-designed main controller PCB, proudly sponsored and manufactured by JLCPCB.

Built entirely within the PlatformIO ecosystem, this hardware platform integrates an MPU6050 IMU, DRV8833 motor driver, 2S LiPo battery safety logic, lighting, and onboard speaker playback systems.

Self balancing robot v2 bill of materials (BOM)

21 components, 14 distinct parts.

QtyPartRefs
2
BC337
Q1, Q2
1
ESP32-S3-DevKitC
J1
1
MPU6050_Breakout
J2
1
MPM3610_Breakout
J3
1
DRV8833_Breakout
J4
1
LEFT_MOTOR
J5
1
RIGHT_MOTOR
J6
1
1000uF
C1
1
470uF
C2
3
0.1uf
C3, C4, C5
1
20k
R1
1
10k
R2
2
220
R4, R5
4
47
R7, R8, R9, R10

Self balancing robot v2 design files

The KiCad project lives in the arthurlawson/self-balancing-robot-v2 repository on GitHub; these links point at the commit this page was built from.

Self balancing robot v2: common questions

What microcontroller does the Self balancing robot v2 use?

The Self balancing robot v2 is built around the ESP32-S3-DevKitC, from the ESP32 family.

How big is the Self balancing robot v2 PCB?

The Self balancing robot v2 measures 80 × 66 mm, has 2 copper layers and is 1.6 mm thick.

How many components are on the Self balancing robot v2?

21 components, from 14 distinct parts. The full bill of materials is listed on this page.

Where can I download the Self balancing robot v2 design files?

From the arthurlawson/self-balancing-robot-v2 repository on GitHub, which has the KiCad layout and the schematic; the links under Design files point to each one.

Can I use the Self balancing robot v2 design in my own project?

Yes, under the terms of its MIT license, which arthurlawson chose for the repository.

Can I test firmware for the Self balancing robot v2 without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug ESP32 firmware against it before you order a PCB.

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