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Line-Follower-Robot-Using-STM32F103C8T6-with-TCRT-5000

bonavirak·Line-Follower-Robot-Using-STM32F103C8T6-with-TCRT-5000·LineFollowerPCB/fun/fun.kicad_pcb

Line-Follower-Robot-Using-STM32F103C8T6-with-TCRT-5000 PCB layout, top view — open source STM32 board by bonavirak
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About the Line-Follower-Robot-Using-STM32F103C8T6-with-TCRT-5000 PCB

Line-Follower-Robot-Using-STM32F103C8T6-with-TCRT-5000 is an open source STM32 PCB design by bonavirak, published on GitHub under the MIT license. It is a 2-layer board measuring 99.8 × 82 mm, with 32 components from 19 distinct parts.

Its main chip is the ZC323000, from the STM32 family. Other key parts include the ROB-14450. By type, the board carries 12 connectors, 4 diodes, 4 capacitors, 4 resistors, 2 ICs and 2 switches.

It belongs with the robotics & motion, sensors and iot & wireless designs in this gallery.

From the project

Line Follower Robot powered by STM32F103C8T6 microcontroller, using TCRT5000 5-way sensors for line detection, HC-05 for Bluetooth communication, TB6612FNG motor driver, and N20 motors (1000 RPM). Implements PID control for precise line tracking and feedback. Features case 0 and case 1 logic to navigate predefined map patterns. Winner of Tire-d.

This Line Follower Robot, winner of Line Follwer Robot Competition 2025, was designed and developed by Bona Virak. The project uses an STM32F103C8T6 microcontroller, TCRT5000 5-way sensors, HC-05 Bluetooth module, TB6612FNG motor driver, and N20 motors (1000 RPM). It features two modes: Auto (PID-based line following with Case 0/Case 1 logic) and Manual (Bluetooth RC control via app).

Line-Follower-Robot-Using-STM32F103C8T6-with-TCRT-5000, from the project README
From the project README

Main components on the Line-Follower-Robot-Using-STM32F103C8T6-with-TCRT-5000

ROB-14450ZC323000

Line-Follower-Robot-Using-STM32F103C8T6-with-TCRT-5000 bill of materials (BOM)

32 components, 19 distinct parts — part numbers from the project's BOM.

QtyPartRefs
1
ROB-14450
U1
1
ZC323000
U2
1
SCREW_TERMINAL_01X02
Screw_Terminal_01x02
J1
1
Left_Motor
J2
1
Right_Motor
J3
1
ULTRASONIC
J4
2
VIN+
J6, J10
2
VOUT+
J7, J12
2
VIN-
J8, J11
2
VOUT-
J9, J13
1
CONN_01X06_FEMALE
Conn_01x06_Female
HC1
1
SW_SPST
SW1
1
SW_SPDT
SW2
2
~
Servo1, Servo2
1
CONN_01X07_FEMALE
Conn_01x07_Female
TCRT1
4
LED
D2, D3, D4, D5
2
0.1UF
0.1uF
C1, C3
2
10UF
10uF
C2, C4
4
220
R2, R3, R4, R5

Line-Follower-Robot-Using-STM32F103C8T6-with-TCRT-5000 design files

The KiCad project lives in the bonavirak/Line-Follower-Robot-Using-STM32F103C8T6-with-TCRT-5000 repository on GitHub; these links point at the commit this page was built from.

Line-Follower-Robot-Using-STM32F103C8T6-with-TCRT-5000: common questions

What microcontroller does the Line-Follower-Robot-Using-STM32F103C8T6-with-TCRT-5000 use?

The Line-Follower-Robot-Using-STM32F103C8T6-with-TCRT-5000 is built around the ZC323000, from the STM32 family.

How big is the Line-Follower-Robot-Using-STM32F103C8T6-with-TCRT-5000 PCB?

The Line-Follower-Robot-Using-STM32F103C8T6-with-TCRT-5000 measures 99.8 × 82 mm, has 2 copper layers and is 1.6 mm thick.

How many components are on the Line-Follower-Robot-Using-STM32F103C8T6-with-TCRT-5000?

32 components, from 19 distinct parts, with part numbers taken from the project's own BOM. The full bill of materials is listed on this page.

Where can I download the Line-Follower-Robot-Using-STM32F103C8T6-with-TCRT-5000 design files?

From the bonavirak/Line-Follower-Robot-Using-STM32F103C8T6-with-TCRT-5000 repository on GitHub, which has the KiCad layout, the schematic and the BOM; the links under Design files point to each one.

Can I use the Line-Follower-Robot-Using-STM32F103C8T6-with-TCRT-5000 design in my own project?

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

Can I test firmware for the Line-Follower-Robot-Using-STM32F103C8T6-with-TCRT-5000 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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