Arm Subsystem
About the Arm Subsystem PCB
Arm Subsystem is an open source ESP32 PCB design by chuahengli, published on GitHub. It is a 2-layer board measuring 110 × 110 mm, with 20 components from 20 distinct parts.
Its main chip is the ESP32-S3-DevKitC, from the ESP32 family. By type, the board carries 12 switches, 3 connectors and 1 IC.
It belongs with the sensors designs in this gallery.
From the project
Three custom boards designed in KiCad for Falali. Each folder contains the KiCad sources (.kicadsch / .kicadpcb / .kicadpro), the netlist (.net, ground truth for pinout), schematic/layout renders, and a fab-output/` folder with the Gerbers + drill files sent to fabrication.
Main components on the Arm Subsystem
Arm Subsystem bill of materials (BOM)
20 components, 20 distinct parts.
| Qty | Part | Footprint | Refs |
|---|---|---|---|
| 1 | ESP32-S3-DevKitC | ESP32-S3-DevKitC-N16R8 | U1 |
| 1 | Arm Motor X | PinHeader_1x06_P2.54mm_Vertical | J1 |
| 1 | Arm Motor Y | PinHeader_1x06_P2.54mm_Vertical | J2 |
| 1 | External Buck 5V and GND | TerminalBlock_Phoenix_MKDS-1,5-2-5.08_1x02_P5.08mm_Horizontal | J3 |
| 1 | Servo X1 | PinHeader_1x03_P2.54mm_Vertical | S1 |
| 1 | Servo X2 | PinHeader_1x03_P2.54mm_Vertical | S2 |
| 1 | Servo Y1 | PinHeader_1x03_P2.54mm_Vertical | S3 |
| 1 | Servo Y2 | PinHeader_1x03_P2.54mm_Vertical | S4 |
| 1 | Limit Switch X1 | PinHeader_1x02_P2.54mm_Vertical | SW1 |
| 1 | Limit Switch Y1 | PinHeader_1x02_P2.54mm_Vertical | SW2 |
| 1 | X Limit Max | PinHeader_1x02_P2.54mm_Vertical | SW3 |
| 1 | Limit Switch X2 | PinHeader_1x02_P2.54mm_Vertical | SW4 |
| 1 | Limit Switch Y2 | PinHeader_1x02_P2.54mm_Vertical | SW5 |
| 1 | Y Limit Min | PinHeader_1x02_P2.54mm_Vertical | SW6 |
| 1 | X Limit Min | PinHeader_1x02_P2.54mm_Vertical | SW7 |
| 1 | Y Limit Max | PinHeader_1x02_P2.54mm_Vertical | SW8 |
| 1 | ToF X1 | PinHeader_1x06_P2.54mm_Vertical | TOF1 |
| 1 | ToF Y1 | PinHeader_1x06_P2.54mm_Vertical | TOF2 |
| 1 | ToF X2 | PinHeader_1x06_P2.54mm_Vertical | TOF3 |
| 1 | ToF Y2 | PinHeader_1x06_P2.54mm_Vertical | TOF4 |
Arm Subsystem design files
The KiCad project lives in the chuahengli/30.007-Engineering-Design-Innovation-Falali-AMR repository on GitHub; these links point at the commit this page was built from.
Arm Subsystem: common questions
What microcontroller does the Arm Subsystem use?
The Arm Subsystem is built around the ESP32-S3-DevKitC, from the ESP32 family.
How big is the Arm Subsystem PCB?
The Arm Subsystem measures 110 × 110 mm, has 2 copper layers and is 1.6 mm thick.
How many components are on the Arm Subsystem?
20 components, from 20 distinct parts. The full bill of materials is listed on this page.
Where can I download the Arm Subsystem design files?
From the chuahengli/30.007-Engineering-Design-Innovation-Falali-AMR repository on GitHub, which has the KiCad layout and the schematic; the links under Design files point to each one.
Can I use the Arm Subsystem design in my own project?
The repository has no license, so all rights stay with chuahengli. Use it as a reference, and ask the author before reusing the design.
Can I test firmware for the Arm Subsystem 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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