Robot motherboard

enph253-2025-team5·robot-motherboard-pcb·robot-motherboard/robot-motherboard.kicad_pcb

About the Robot motherboard PCB

Robot motherboard is an open source RP2040/RP2350 PCB design by enph253-2025-team5, published on GitHub under the GPL-3.0 license. It is a 2-layer board measuring 129.3 × 78.7 mm, with 58 components from 39 distinct parts.

Its main chip is the ESP32_PICO-1, from the RP2040/RP2350 family. Other key parts include the MCT6, LM2596_BREAKOUT, CD4051B and BNO085. By type, the board carries 20 connectors, 17 capacitors, 6 resistors, 5 ICs, 4 switches and 1 transistor.

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

Robot motherboard, from the project README — From the project README

Main components on the Robot motherboard

MCT6LM2596_BREAKOUTCD4051BESP32_PICO-1BNO085

Robot motherboard bill of materials (BOM)

58 components, 39 distinct parts — part numbers from the project's BOM.

Qty	Part	Footprint	Refs
1	MCT6	DIP-8_W7.62mm_LongPads	U1
1	LM2596_BREAKOUT LM2596_Breakout	LM2596_Breakout	U2
1	CD4051B	DIP-16_W7.62mm_LongPads	U3
1	ESP32_PICO-1	ESP32_PICO_1_DEV_KIT	U4
1	BNO085	ADAFRUIT_BNO085	U5
1	IRFZ44	TO-220-3_Horizontal_TabDown	Q1
1	WING0_S Wing0_S	JST_XH_S3B-XH-A-1_1x03_P2.50mm_Horizontal	J1
1	WING0_SW Wing0_SW	JST_XH_S3B-XH-A-1_1x03_P2.50mm_Horizontal	J2
1	BATT	JST_XH_S2B-XH-A-1_1x02_P2.50mm_Horizontal	J3
1	WING1_S Wing1_S	JST_XH_S3B-XH-A-1_1x03_P2.50mm_Horizontal	J4
1	WING1_SW Wing1_SW	JST_XH_S3B-XH-A-1_1x03_P2.50mm_Horizontal	J5
1	9V	TerminalBlock_Xinya_XY308-2.54-2P_1x02_P2.54mm_Horizontal	J6
1	Drivetrain_M	JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical	J7
2	Arm_M	JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical	J8, J9
1	Reflectance	JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical	J10
1	Arm_I	JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical	J11
1	Intake_I	JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical	J12
1	User.Input	TerminalBlock_Xinya_XY308-2.54-4P_1x04_P2.54mm_Horizontal	J13
1	I2C0	JST_XH_S4B-XH-A-1_1x04_P2.50mm_Horizontal	J14
1	Extra	TerminalBlock_Xinya_XY308-2.54-5P_1x05_P2.54mm_Horizontal	J15

Show 19 more

Qty	Part	Footprint	Refs
1	I2C1	JST_XH_S4B-XH-A-1_1x04_P2.50mm_Horizontal	J16
1	PW_OUT	TerminalBlock_Xinya_XY308-2.54-3P_1x03_P2.54mm_Horizontal	J17
1	ENCODER1 Encoder1	JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical	J18
1	Basket_S	JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical	J19
1	ENCODER0 Encoder0	JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical	J20
1	IN0	ENPH253_Potentiometer	RV1
1	IN1	ENPH253_Potentiometer	RV2
1	IN2	ENPH253_Potentiometer	RV3
1	IN3	ENPH253_Potentiometer	RV4
1	ENC0.A/IN.SEL0	SW_Slide-03_Wuerth-WS-SLTV_10x2.5x6.4_P2.54mm	SW1
1	ENC0.B/IN.SEL1	SW_Slide-03_Wuerth-WS-SLTV_10x2.5x6.4_P2.54mm	SW2
1	ENC1.A/IN.SEL2	SW_Slide-03_Wuerth-WS-SLTV_10x2.5x6.4_P2.54mm	SW3
1	ENC1.B/IN.ADC	SW_Slide-03_Wuerth-WS-SLTV_10x2.5x6.4_P2.54mm	SW4
1	SSD1306_OLED	ADAFRUIT_SSD1306_OLED	G1
15	100NF 100nF	C_Disc_D3.0mm_W2.0mm_P2.50mm	C1, C2, C3, C6, C7, C8, C9, C10 +7
2	47UF 47uF	CP_Radial_D5.0mm_P2.00mm	C4, C5
1	470R	R_Axial_DIN0309_L9.0mm_D3.2mm_P12.70mm_Horizontal	R1
1	10K	R_Axial_DIN0309_L9.0mm_D3.2mm_P12.70mm_Horizontal	R2
4	4K7 4k7	R_Axial_DIN0309_L9.0mm_D3.2mm_P12.70mm_Horizontal	R3, R4, R5, R6

Robot motherboard design files

The KiCad project lives in the enph253-2025-team5/robot-motherboard-pcb repository on GitHub; these links point at the commit this page was built from.

Robot motherboard: common questions

What microcontroller does the Robot motherboard use?

The Robot motherboard is built around the ESP32_PICO-1, from the RP2040/RP2350 family.

How big is the Robot motherboard PCB?

The Robot motherboard measures 129.3 × 78.7 mm, has 2 copper layers and is 1.6 mm thick.

How many components are on the Robot motherboard?

58 components, from 39 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 Robot motherboard design files?

From the enph253-2025-team5/robot-motherboard-pcb 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 Robot motherboard design in my own project?

Yes, under the terms of its GPL-3.0 license, which enph253-2025-team5 chose for the repository.

Can I test firmware for the Robot motherboard 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.