Autonomous-Garden-Rover
About the Autonomous-Garden-Rover PCB
Autonomous-Garden-Rover is an open source ESP32 PCB design by houseofthe051010, published on GitHub under the MIT license. It is a 4-layer board measuring 108 × 168 mm, with 217 components from 105 distinct parts.
Its main chip is the ESP32-P4NRW32X QFN104, from the ESP32 family. Other key parts include the W25Q128JVSIQ, ESP32-C6-MINI-1-H4 PCB ANTENNA, TLV62569 P4 CORE DCDC, A4988SETTR-T AXIS1 and A4988SETTR-T AXIS2. By type, the board carries 92 capacitors, 47 resistors, 19 ICs, 14 connectors, 11 transistors and 6 diodes.
It belongs with the robotics & motion and sensors designs in this gallery.
From the project
An autonomous garden management system for my garden that waters plants and cuts grass
This is an open source outdoor garden robot that can mow grass and water plants for under $400. It features a powerful 3000 watt C6374 motor for mowing grass with electronic height control, and a large Nema17 turret system for watering at target places that supports a normal garden hose. The rover currently uses a 9 axis IMU + wheel encoders for autonomous function. The brain of this rover is a powerful ESP32-P4, which gives this rover the capability to listen and respond to commands using its built in microphone and speaker.
Main components on the Autonomous-Garden-Rover
Autonomous-Garden-Rover bill of materials (BOM)
217 components, 105 distinct parts — part numbers from the project's BOM.
| Qty | Part | Footprint | Refs |
|---|---|---|---|
| 1 | ESP32-P4NRW32X QFN104 | U10 | |
| 1 | W25Q128JVSIQ | SOIC-8_3.9x4.9mm_P1.27mm | U11 |
| 1 | ESP32-C6-MINI-1-H4 PCB ANTENNA | ESP32-C6-MINI-1 | U12 |
| 1 | TLV62569 P4 CORE DCDC | SOT-23-5 | U13 |
| 1 | A4988SETTR-T AXIS1 | QFN-28-1EP_5x5mm_P0.5mm_EP3.75x3.75mm_ThermalVias | U21 |
| 1 | A4988SETTR-T AXIS2 | QFN-28-1EP_5x5mm_P0.5mm_EP3.75x3.75mm_ThermalVias | U22 |
| 1 | A4988SETTR-T AXIS3 | QFN-28-1EP_5x5mm_P0.5mm_EP3.75x3.75mm_ThermalVias | U23 |
| 1 | A4988SETTR-T AXIS4 | QFN-28-1EP_5x5mm_P0.5mm_EP3.75x3.75mm_ThermalVias | U24 |
| 1 | BTN7960B LEFT HALF-A | TO-263-7_TabPin4 | U30 |
| 1 | BTN7960B LEFT HALF-B | TO-263-7_TabPin4 | U31 |
| 1 | BTN7960B RIGHT HALF-A | TO-263-7_TabPin4 | U32 |
| 1 | BTN7960B RIGHT HALF-B | TO-263-7_TabPin4 | U33 |
| 1 | LM5146 42V->24V | Texas_RGY_R-PVQFN-N20_EP2.05x3.05mm_ThermalVias | U40 |
| 1 | LM5146 24V->8V | Texas_RGY_R-PVQFN-N20_EP2.05x3.05mm_ThermalVias | U41 |
| 1 | MP2315 8V->5V 3A | TSOT-23-8 | U42 |
| 1 | MP2315 5V->3V3 3A | TSOT-23-8 | U43 |
| 1 | AP2112 3V3 SENSOR LDO | SOT-23-5 | U44 |
| 1 | STM32F405RGT6 | LQFP-64_10x10mm_P0.5mm | U50 |
| 1 | DRV8301DCAR | HTSSOP-56-1EP_6.1x14mm_P0.5mm_EP3.61x6.35mm | U51 |
| 1 | 80V REVERSE-POLARITY FET | PowerPAK_SO-8_Single | Q1 |
Show 85 more
| Qty | Part | Footprint | Refs |
|---|---|---|---|
| 2 | NVMFS6B14NLT1G 100V BUCK | PowerPAK_SO-8_Single | Q40, Q41 |
| 8 | NTMFS5C628NLT1G 60V MOSFET | PowerPAK_SO-8_Single | Q42, Q43, Q50, Q51, Q52, Q53, Q54, Q55 |
| 1 | 40MHz | Crystal_SMD_3225-4Pin_3.2x2.5mm | Y1 |
| 1 | 8MHz STM32 | Crystal_SMD_3225-4Pin_3.2x2.5mm | Y50 |
| 1 | 10S BATTERY | TerminalBlock_Phoenix_MKDS-3-2-5.08_1x02_P5.08mm_Horizontal | J1 |
| 1 | USB-C PROGRAM/DEBUG | USB_C_Receptacle_GCT_USB4105-xx-A_16P_TopMnt_Horizontal | J2 |
| 1 | BNO080 BREAKOUT | PinSocket_1x08_P2.54mm_Vertical | J3 |
| 1 | OPEN GPIO | PinHeader_2x06_P2.54mm_Vertical | J4 |
| 1 | USB-C OTG HIGH SPEED | USB_C_Receptacle_GCT_USB4105-xx-A_16P_TopMnt_Horizontal | J5 |
| 1 | STEPPER 1: A+ A- B+ B- | TerminalBlock_Phoenix_MKDS-1,5-4_1x04_P5.00mm_Horizontal | J11 |
| 1 | STEPPER 2: A+ A- B+ B- | TerminalBlock_Phoenix_MKDS-1,5-4_1x04_P5.00mm_Horizontal | J12 |
| 1 | STEPPER 3: A+ A- B+ B- | TerminalBlock_Phoenix_MKDS-1,5-4_1x04_P5.00mm_Horizontal | J13 |
| 1 | STEPPER 4: A+ A- B+ B- | TerminalBlock_Phoenix_MKDS-1,5-4_1x04_P5.00mm_Horizontal | J14 |
| 1 | LEFT MOTOR | TerminalBlock_Phoenix_MKDS-3-2-5.08_1x02_P5.08mm_Horizontal | J30 |
| 1 | RIGHT MOTOR | TerminalBlock_Phoenix_MKDS-3-2-5.08_1x02_P5.08mm_Horizontal | J32 |
| 1 | BLDC U V W | TerminalBlock_Phoenix_MKDS-3-3-5.08_1x03_P5.08mm_Horizontal | J50 |
| 1 | STM32 SWD | PinHeader_2x05_P1.27mm_Vertical | J51 |
| 1 | ODESC AUX 3V3 GND IO1 IO2 IO3 | JST_SH_SM05B-SRSS-TB_1x05-1MP_P1.00mm_Horizontal | J52 |
| 3 | 1nF CURRENT SENSE | C_0603_1608Metric | CCS51, CCS52, CCS53 |
| 1 | 15A INPUT FUSE | Fuse_1812_4532Metric | F1 |
| 3 | 20R CURRENT SENSE | R_0603_1608Metric | RCS51, RCS52, RCS53 |
| 6 | 2.2R GATE | R_0603_1608Metric | RG51, RG52, RG53, RG54, RG55, RG56 |
| 6 | 100k GATE PD | R_0603_1608Metric | RPD51, RPD52, RPD53, RPD54, RPD55, RPD56 |
| 3 | 0.5mR 3W | R_2512_6332Metric | RSH50, RSH51, RSH52 |
| 1 | SMCJ48A TVS | D_SMC | D1 |
| 1 | USB FS ESD ARRAY | SOT-23-6 | D10 |
| 1 | USB HS LOW-C ESD | SOT-23-6 | D11 |
| 3 | 60V BOOTSTRAP | D_SOD-323 | D51, D52, D53 |
| 1 | 2.2uH P4 CORE | L_0805_2012Metric | L13 |
| 1 | 10uH 24V | L_Bourns-SRU1028_10.0x10.0mm | L40 |
| 1 | 6.8uH 8V | L_Bourns-SRU1028_10.0x10.0mm | L41 |
| 1 | 4.7uH 5V | L_Bourns_SRP1038C_10.0x10.0mm | L42 |
| 4 | 100uF 35V BULK | C_1210_3225Metric | C1B, C2B, C3B, C4B |
| 4 | 100nF VDD | C_0603_1608Metric | C1C, C2C, C3C, C4C |
| 5 | 1uF VREG | C_0603_1608Metric | C1D, C2D, C3D, C4D, C326 |
| 4 | 100nF CP1-CP2 | C_0603_1608Metric | C1E, C2E, C3E, C4E |
| 4 | 100nF VCP | C_0603_1608Metric | C1F, C2F, C3F, C4F |
| 2 | 2.2uF 100V INPUT | C_1210_3225Metric | C40, C41 |
| 2 | 22uF 35V 24VOUT | C_1210_3225Metric | C42, C43 |
| 2 | 47uF 16V 8VOUT | C_1210_3225Metric | C44, C45 |
| 1 | 22uF 10V 5VOUT | C_0805_2012Metric | C46 |
| 1 | 22uF 6V3 3V3OUT | C_0805_2012Metric | C47 |
| 20 | 100nF P4 DECOUPLING | C_0402_1005Metric | C100, C101, C102, C103, C104, C105, C106, C107 +12 |
| 1 | 10uF VDD_LDO | C_0603_1608Metric | C120 |
| 1 | 10uF VDD_DCDCC | C_0603_1608Metric | C121 |
| 1 | 4.7uF USBPHY | C_0603_1608Metric | C122 |
| 1 | 1uF FLASHIO | C_0603_1608Metric | C123 |
| 1 | 10nF USBPHY | C_0603_1608Metric | C124 |
| 1 | 10uF VDD_BAT | C_0603_1608Metric | C125 |
| 1 | 1uF CHIP_PU | C_0603_1608Metric | C126 |
| 2 | 100nF VCC | C_0402_1005Metric | C200, C208 |
| 2 | 100nF BST | C_0402_1005Metric | C201, C209 |
| 2 | 1uF SS | C_0402_1005Metric | C202, C210 |
| 2 | 1nF COMP | C_0402_1005Metric | C203, C211 |
| 2 | 100pF COMP | C_0402_1005Metric | C204, C212 |
| 2 | 470nF BTN SUPPLY | C_1210_3225Metric | C300, C320 |
| 2 | 220uF 16V DRIVE BULK | C_1210_3225Metric | C301, C321 |
| 2 | 1nF IS FILTER | C_0603_1608Metric | C302, C303 |
| 2 | 100nF | C_0603_1608Metric | C304, C305 |
| 2 | 2.2uF VCAP | C_0603_1608Metric | C306, C307 |
| 1 | 4.7uF VDDA | C_0603_1608Metric | C308 |
| 1 | 100nF VDDA | C_0603_1608Metric | C309 |
| 2 | 18pF XTAL | C_0603_1608Metric | C310, C311 |
| 1 | 100nF NRST | C_0603_1608Metric | C312 |
| 1 | 2.2uF AVDD | C_0603_1608Metric | C322 |
| 2 | 10uF PVDD | C_0603_1608Metric | C323, C327 |
| 1 | 10nF CP1 | C_0603_1608Metric | C324 |
| 1 | 100nF CP2 | C_0603_1608Metric | C325 |
| 3 | 100nF BOOTSTRAP | C_0603_1608Metric | C331, C332, C333 |
| 3 | 120uF 50V BLDC BUS | C_1210_3225Metric | C340, C341, C342 |
| 8 | 0.10R SENSE | R_1206_3216Metric | R1A, R1B, R2A, R2B, R3A, R3B, R4A, R4B |
| 4 | 100k ENABLE PD | R_0402_1005Metric | R1C, R2C, R3C, R4C |
| 4 | 100k STEP PD | R_0402_1005Metric | R1D, R2D, R3D, R4D |
| 4 | 10k IN PD | R_0603_1608Metric | R30A, R30C, R32A, R32C |
| 4 | 10k INH PD | R_0603_1608Metric | R30B, R30D, R32B, R32D |
| 4 | 1k IS FILTER | R_0603_1608Metric | R30E, R30F, R32E, R32F |
| 1 | 10k CHIP_PU | R_0402_1005Metric | R100 |
| 1 | 10k BOOT | R_0402_1005Metric | R101 |
| 6 | 0R FLASH TUNING | R_0402_1005Metric | R102, R103, R104, R105, R106, R107 |
| 4 | 22R USB SERIES | R_0402_1005Metric | R110, R111, R112, R113 |
| 2 | 10k FB | R_0402_1005Metric | R205, R213 |
| 1 | 287k FB24 | R_0402_1005Metric | R206 |
| 2 | 10R GATE | R_0402_1005Metric | R207, R215 |
| 1 | 90.9k FB8 | R_0402_1005Metric | R214 |
| 1 | 10k NRST | R_0603_1608Metric | R300 |
Autonomous-Garden-Rover design files
The KiCad project lives in the houseofthe051010/Autonomous-Garden-Rover repository on GitHub; these links point at the commit this page was built from.
Autonomous-Garden-Rover: common questions
What microcontroller does the Autonomous-Garden-Rover use?
The Autonomous-Garden-Rover is built around the ESP32-P4NRW32X QFN104, from the ESP32 family.
How big is the Autonomous-Garden-Rover PCB?
The Autonomous-Garden-Rover measures 108 × 168 mm, has 4 copper layers and is 1.6 mm thick.
How many components are on the Autonomous-Garden-Rover?
217 components, from 105 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 Autonomous-Garden-Rover design files?
From the houseofthe051010/Autonomous-Garden-Rover 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 Autonomous-Garden-Rover design in my own project?
Yes, under the terms of its MIT license, which houseofthe051010 chose for the repository.
Can I test firmware for the Autonomous-Garden-Rover 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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