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RobotCrawler

BerkeleyHCI·PolymorphicBlocks·examples/RobotCrawler/RobotCrawler.kicad_pcb

RobotCrawler PCB layout, top view — open source RP2040/RP2350 board by BerkeleyHCI
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About the RobotCrawler PCB

RobotCrawler is an open source RP2040/RP2350 PCB design by BerkeleyHCI, published on GitHub under the BSD-3-Clause license. It is a 2-layer board measuring 60 × 80 mm, with 112 components from 31 distinct parts.

Its main chip is the RP2040 (Raspberry Pi), from the RP2040/RP2350 family.

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

From the project

A Python-based hardware description language for PCBs for higher-level (block-diagram / system-architecture level) PCB design through libraries of directly reusable subcircuit generators.

subcircuit generator library based hardware description language for circuit board design

Polymorphic Blocks is an open-source, Python-based hardware description language (HDL) for schematic-equivalent design of printed circuit boards (PCBs). Its library of components provide a high-level abstraction for circuit design while subcircuit generators automate the calculation of fine details. Abstract component interfaces enable these libraries to be general across applications and component vendors.

RobotCrawler, from the project README
From the project README

RobotCrawler bill of materials (BOM)

112 components, 31 distinct parts.

QtyPartRefs
33
—
RC1, RC2, RC3, RC4, RC5, RC9, RC10, RC11 +25
5
—
RC6, RC7, RC8, RC16, RC34
2
—
RC13, RC37
1
CUS10S30,H3F (TOSHIBA) - 30V 230mV@100mA 1A SOD-323 Schottky Barrier Diodes (SBD) ROHS
RD1
2
1N5819WS (Guangdong Hottech) - 40V 600mV@1A 1A SOD-323 Schottky Barrier Diodes (SBD) ROHS
RD8, RD9
3
—
RH1, RH2, RH3
1
B2B-PH-K (JST)
RJ1
14
PinHeader2.54 1x4 (Generic)
RJ2, RJ3, RJ4, RJ5, RJ6, RJ7, RJ8, RJ9 +6
1
—
RJ16
2
—
RJ17, RJ18
1
FH35C-31S-0.3SHW (Hirose)
RJ19
1
AFC01-S24FCA-00 (Jushuo)
RJ20
1
—
RL1
14
—
RR1, RR2, RR3, RR4, RR5, RR6, RR7, RR8 +6
1
5015 (Keystone) - vbatt
RTP1
1
5015 (Keystone) - gnd
RTP2
1
5015 (Keystone) - v3v3
RTP3
1
5015 (Keystone) - v14
RTP4
1
5015 (Keystone) - i2c_chain_0.scl
RTP5
1
5015 (Keystone) - i2c_tp._io_sda_link
RTP6
Show 11 more
QtyPartRefs
1
LSM6DS3TR-C (STMicroelectronics)
RU1
1
AP7215-33YG-13 (Diodes Incorporated)
RU2
1
TPS61040DBVR (Texas Instruments)
RU3
1
XC6206P252MR (Torex Semiconductor Ltd)
RU4
1
XC6206P122MR-G (Torex Semiconductor Ltd)
RU5
1
ESP32-S3-WROOM-1-N16R8 (Espressif Systems)
RU6
1
STM32F103xxT6 (STMicroelectronics)
RU7
1
RP2040 (Raspberry Pi)
RU8
1
W25Q128JVSIQ (Winbond Electronics)
RU9
6
—
RD2, RD3, RD4, RD5, RD6, RD7
10
SK6812 SIDE-A (Normand Electronic Co Ltd)
RD10, RD11, RD12, RD13, RD14, RD15, RD16, RD17 +2

RobotCrawler design files

The KiCad project lives in the BerkeleyHCI/PolymorphicBlocks repository on GitHub; these links point at the commit this page was built from.

RobotCrawler: common questions

What microcontroller does the RobotCrawler use?

The RobotCrawler is built around the RP2040 (Raspberry Pi), from the RP2040/RP2350 family.

How big is the RobotCrawler PCB?

The RobotCrawler measures 60 × 80 mm, has 2 copper layers and is 1.6 mm thick.

How many components are on the RobotCrawler?

112 components, from 31 distinct parts. The full bill of materials is listed on this page.

Where can I download the RobotCrawler design files?

From the BerkeleyHCI/PolymorphicBlocks repository on GitHub, which has the KiCad layout; the links under Design files point to each one.

Can I use the RobotCrawler design in my own project?

Yes, under the terms of its BSD-3-Clause license, which BerkeleyHCI chose for the repository.

Can I test firmware for the RobotCrawler without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug RP2040/RP2350 firmware against it before you order a PCB.

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