HardLabs

2026 12 2Wheel Balance Robot v1

cshieldsce·ENCE_3231_Charlie_Shields_2026·04_balancing_robot_pcb_v1/2026_12_2Wheel_Balance_Robot_v1/2026_12_2Wheel_Balance_Robot_v1.kicad_pcb

2026 12 2Wheel Balance Robot v1 PCB layout, top view — open source STM32 board by cshieldsce

About the 2026 12 2Wheel Balance Robot v1 PCB

2026 12 2Wheel Balance Robot v1 is an open source STM32 PCB design by cshieldsce, published on GitHub. It is a 2-layer board measuring 68.6 × 53.4 mm, with 55 components from 33 distinct parts.

Its main chip is the STM32F401RBTx, from the STM32 family. Other key parts include the TB6612FNG, LD1117S50TR_SOT223, USBLC6-2SC6 and LD1117S33TR_SOT223. By type, the board carries 22 capacitors, 10 resistors, 9 connectors, 5 ICs, 5 diodes and 2 switches.

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

From the project

- Open 2026122WheelBalanceRobotv1.kicadpro

2026 12 2Wheel Balance Robot v1, from the project README
From the project README

Main components on the 2026 12 2Wheel Balance Robot v1

STM32F401RBTxTB6612FNGLD1117S50TR_SOT223USBLC6-2SC6LD1117S33TR_SOT223

2026 12 2Wheel Balance Robot v1 bill of materials (BOM)

55 components, 33 distinct parts.

QtyPartRefs
1
STM32F401RBTx
U1
1
TB6612FNG
U2
1
LD1117S50TR_SOT223
U3
1
USBLC6-2SC6
U5
1
LD1117S33TR_SOT223
U6
1
16MHz
ABRACON
Y3
1
Conn_01x04
J1
1
CONN_MPU6050
J2
1
USB_C_Receptacle_USB2.0_14P
Same Sky
J3
1
ESP_Conn
J4
1
BATT_CONN
J5
1
M1_CONN
J6
1
M2_CONN
J7
1
ENCODER_CONN
J8
1
MT6701_CONN
J9
1
PTCSMD
F1
1
RST_SWITCH
S4
1
SW_uP_Reset
Wurth Elektronik
SW2
1
WS2812B
D1
1
USB_LED
D2
Show 13 more
QtyPartRefs
1
3V3_LED
D3
1
USER_LED
D4
1
5V_LED
D5
12
0.1uF
C1, C2, C3, C4, C6, C8, C13, C14 +4
1
2.2uF
C7
1
10uF
C9
5
10uF
KEMET
C15, C16, C18, C23, C25
2
22p
KYOCERA AVX
C19, C20
1
0.01uF
KYOCERA AVX
C21
4
1k
R1, R6, R9, R10
2
10k
R2, R17
2
22R
R3, R4
2
5.1k
Vishay / Dale
R7, R8

2026 12 2Wheel Balance Robot v1 design files

The KiCad project lives in the cshieldsce/ENCE_3231_Charlie_Shields_2026 repository on GitHub; these links point at the commit this page was built from.

2026 12 2Wheel Balance Robot v1: common questions

What microcontroller does the 2026 12 2Wheel Balance Robot v1 use?

The 2026 12 2Wheel Balance Robot v1 is built around the STM32F401RBTx, from the STM32 family.

How big is the 2026 12 2Wheel Balance Robot v1 PCB?

The 2026 12 2Wheel Balance Robot v1 measures 68.6 × 53.4 mm, has 2 copper layers and is 1.6 mm thick.

How many components are on the 2026 12 2Wheel Balance Robot v1?

55 components, from 33 distinct parts. The full bill of materials is listed on this page.

Where can I download the 2026 12 2Wheel Balance Robot v1 design files?

From the cshieldsce/ENCE_3231_Charlie_Shields_2026 repository on GitHub, which has the KiCad layout and the schematic; the links under Design files point to each one.

Can I use the 2026 12 2Wheel Balance Robot v1 design in my own project?

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

Can I test firmware for the 2026 12 2Wheel Balance Robot v1 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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