HardLabs

JB-Micro-Wheeled leg-Robot

baijiazheng·JB-Micro-Wheeled_leg-Robot·hardware/driver_board_f103/driver_f103.kicad_sch

This repository ships a schematic but no board layout.

About the JB-Micro-Wheeled leg-Robot PCB

JB-Micro-Wheeled leg-Robot is an open source STM32 PCB design by baijiazheng, published on GitHub. It is a board, with 53 components from 32 distinct parts.

Its main chip is the STM32F103C8T6, from the STM32 family. Other key parts include the L6234, AS5600, MPU6050, MP2225 and AMS1117-3.3. By type, the board carries 21 capacitors, 13 resistors, 10 ICs, 5 connectors, 2 diodes and 1 switch.

It belongs with the robotics & motion designs in this gallery.

From the project

基于 Micro-Wheeledleg-Robot（穆世博/李育锋，开源）的 STM32 双板 + CAN 复刻版**。

基于 Micro-Wheeledleg-Robot（穆世博/李育锋，开源）的 STM32 双板 + CAN 复刻版**。

- 双轮自平衡 + 腿部运动（跳跃）+ CAN 双板通信 - 元器件直接集成到两板，FOC 用 HAL 从零实现（不依赖 simpleFOC） - 学习主线：STM32 HAL → FOC → LQR 平衡 → CAN → 双板架构

- [x] 环境搭建（KiCad / STM32 工具链 / 立创EDA） - [x] 参考项目分析 + 架构设计 - [x] 固件算法（FOC/PID/LQR平衡/CAN，6 套主机测试全绿） - [x] F103 驱动板固件（FOC + 平衡 + yaw + CAN，编译通过） - [x] F407 主控板固件（STS3032 腿 + CAN 主机，编译通过） - [x] 双板网表 + 校验通过 - [x] 上电联调方案（docs/bringup_plan.md） - [ ] 画双板原理图（按 netlist.py 逐线连接） - [ ] 双板 PCB + 打样 - [ ] 上电联调

Main components on the JB-Micro-Wheeled leg-Robot

STM32F103C8T6L6234AS5600MPU6050MP2225AMS1117-3.3TJA1051TCH340C

JB-Micro-Wheeled leg-Robot bill of materials (BOM)

53 components, 32 distinct parts.

QtyPartRefs
1
STM32F103C8T6
U1
2
L6234
U2, U3
2
AS5600
U4, U5
1
MPU6050
U6
1
MP2225
U7
1
AMS1117-3.3
U8
1
TJA1051T
U9
1
CH340C
U10
1
BAT
J1
1
M1
J2
1
M2
J3
1
SWD
J4
1
USB
J5
1
SW
SW1
1
SS34
D1
1
RED
D2
1
4.7uH
L1
2
22uF
C1, C3
4
0.1uF
C2, C4, C21, C24
1
100uF
C5
Show 12 more
QtyPartRefs
5
100nF
C6, C11, C12, C19, C25
2
220nF
C13, C16
3
1uF
C14, C17, C23
3
10nF
C15, C18, C22
1
2.2uF
C20
3
100k
R1, R12, R13
1
40.2k
R2
1
5.49k
R3
4
4.7k
R4, R5, R6, R7
1
120
R8
2
10k
R9, R10
1
1k
R11

JB-Micro-Wheeled leg-Robot design files

The KiCad project lives in the baijiazheng/JB-Micro-Wheeled_leg-Robot repository on GitHub; these links point at the commit this page was built from.

JB-Micro-Wheeled leg-Robot: common questions

What microcontroller does the JB-Micro-Wheeled leg-Robot use?

The JB-Micro-Wheeled leg-Robot is built around the STM32F103C8T6, from the STM32 family.

How many components are on the JB-Micro-Wheeled leg-Robot?

53 components, from 32 distinct parts. The full bill of materials is listed on this page.

Where can I download the JB-Micro-Wheeled leg-Robot design files?

From the baijiazheng/JB-Micro-Wheeled_leg-Robot repository on GitHub, which has the schematic; the links under Design files point to each one.

Can I use the JB-Micro-Wheeled leg-Robot design in my own project?

The repository has no license, so all rights stay with baijiazheng. Use it as a reference, and ask the author before reusing the design.

Can I test firmware for the JB-Micro-Wheeled leg-Robot without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug STM32 firmware against it before you order a PCB.

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