HardLabs

SPG27 Micro Mouse

daisuke-ym·micro-mouse·PCB/stepper-mouse-2025b/stepper-mouse-2025b.kicad_pcb

SPG27 Micro Mouse PCB layout, top view — open source ESP32 board by daisuke-ym

About the SPG27 Micro Mouse PCB

SPG27 Micro Mouse is an open source ESP32 PCB design by daisuke-ym, published on GitHub. It is a 2-layer board measuring 80 × 150 mm, with 87 components from 24 distinct parts.

Its main chip is the ESP32-DevKitC, from the ESP32 family. Other key parts include the AE-BNO055. By type, the board carries 34 resistors, 14 transistors, 14 diodes, 7 capacitors, 5 connectors and 5 switches.

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

From the project

マイクロマウスは自立型ロボットが自律的に（自分の力だけで）迷路を探索し、 ゴールまで到達するものです。

マイクロマウスは自立型ロボットが自律的に（自分の力だけで）迷路を探索し、 ゴールまで到達するものです。

競技会もあります。 詳細は 公益財団法人ニューテクノロジー振興財団 を参照してください。

上記競技会ではクラシッククラスとハーフサイズクラスがありますが、 ここでは1区画180㎜のクラシッククラスを作ります。

RT ROBOT SHOP 等でキットが販売されていますが、高価なため個人や学生が手を出すには敷居が高いです。

そこで、3Dプリンタ、我らの秋月電子通商、中国のプリント基板業者を駆使することで 1万円以内で製作できることを目指しました。

ただし、採用しているステッピングモーター（28BYJ-48）は回転速度が遅い[^1]ため、 上記競技会で完走するのは難しいです。 主に教材用と考えてもらえればと思います。

- Arduino IDE - ESP32 ツールチェイン - Unistep2_mod ライブラリ（動的に回転速度を変更できるようにしたもの）

Main components on the SPG27 Micro Mouse

ESP32-DevKitCAE-BNO055

SPG27 Micro Mouse bill of materials (BOM)

87 components, 24 distinct parts.

QtyPartRefs
1
ESP32-DevKitC
U1
1
AE-BNO055
U2
2
AO3401A
Q1, Q2
8
AO3402
Q3, Q4, Q5, Q6, Q7, Q8, Q9, Q10
4
BSS138
Q11, Q12, Q13, Q14
1
STEPPER L
J1
1
STEPPER R
J2
1
Power
J3
2
Conn_01x08
J4, J5
1
AQM1602Y
LCD1
1
SW1
SW1
1
SW2
SW2
1
RESET
SW3
1
L_POWER
SW4
1
M_POWER
SW5
1
VAL**
TAMIYA70144
4
L-51ROPT1D1
PH1, PH2, PH3, PH4
2
LED
D1, D2
8
1N4007
D3, D4, D5, D6, D7, D8, D9, D10
4
OSI5FU5111C-40
D11, D12, D13, D14
Show 4 more
QtyPartRefs
7
1u
C1, C2, C3, C4, C5, C6, C7
6
1k
R1, R2, R23, R26, R29, R32
16
10k
R3, R4, R6, R8, R10, R12, R14, R16 +8
12
10
R5, R7, R9, R11, R13, R15, R17, R19 +4

SPG27 Micro Mouse design files

The KiCad project lives in the daisuke-ym/micro-mouse repository on GitHub; these links point at the commit this page was built from.

SPG27 Micro Mouse: common questions

What microcontroller does the SPG27 Micro Mouse use?

The SPG27 Micro Mouse is built around the ESP32-DevKitC, from the ESP32 family.

How big is the SPG27 Micro Mouse PCB?

The SPG27 Micro Mouse measures 80 × 150 mm, has 2 copper layers and is 1.6 mm thick.

How many components are on the SPG27 Micro Mouse?

87 components, from 24 distinct parts. The full bill of materials is listed on this page.

Where can I download the SPG27 Micro Mouse design files?

From the daisuke-ym/micro-mouse repository on GitHub, which has the KiCad layout and the schematic; the links under Design files point to each one.

Can I use the SPG27 Micro Mouse design in my own project?

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

Can I test firmware for the SPG27 Micro Mouse 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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