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Micromouse

MukeshSethy·micromouse-runner·pcb/JLCPCB_4layers/design/micromouse-pcb.kicad_pcb

Micromouse PCB layout, top view — open source ESP32 board by MukeshSethy
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About the Micromouse PCB

Micromouse is an open source ESP32 PCB design by MukeshSethy, published on GitHub. It is a 4-layer board measuring 100 × 120 mm, with 177 components from 54 distinct parts.

Its main chip is the ESP32-S3-WROOM-1-N8R2, from the ESP32 family. Other key parts include the AP63203WU-7, TB6612FNG,C,8,EL, CD74HC4067M96, USBLC6-2SC6 and TPS54302DDCR. By type, the board carries 75 resistors, 26 transistors, 23 capacitors, 21 diodes, 8 speakers and 7 ICs.

It belongs with the sensors, robotics & motion and iot & wireless designs in this gallery.

From the project

This is my repo for the first version of full size micromouse development.

A competition-style micromouse robot on a custom 100 × 120 mm, 4-layer KiCad 10 PCB: ESP32-S3 module doing all control + wireless telemetry, a 2S power tree with a regulated 6 V motor rail, a BNO055 9-axis IMU, research- verified sensor geometry, and a fully script-generated, fully autorouted design.

Top — sensors, module, connectors (motor plugs go straight into J5/J6):

Micromouse, from the project README
From the project README

Main components on the Micromouse

AP63203WU-7TB6612FNG,C,8,ELESP32-S3-WROOM-1-N8R2CD74HC4067M96USBLC6-2SC6TPS54302DDCRBNO055

Micromouse bill of materials (BOM)

177 components, 54 distinct parts — part numbers from the project's BOM.

QtyPartRefs
1
AP63203WU-7
AP63203WU-7 (fixed 3.3V 2A buck; AP63200WU base symbol so ERC checks pins)
Diodes Incorporated
U1
1
TB6612FNG,C,8,EL
TB6612FNG
Toshiba
U2
1
ESP32-S3-WROOM-1-N8R2
ESP32-S3-WROOM-1-N8R2 (quad PSRAM: IO35-37 usable; octal -R8 would lose them)
Espressif Systems
U3
1
CD74HC4067M96
CD74HC4067M
Texas Instruments
U4
1
USBLC6-2SC6
USBLC6-2SC6 (SOT-23-6; 2P6 base symbol so ERC checks pins)
STMicroelectronics
U6
1
TPS54302DDCR
TPS54302DDCR (6.0V/3A motor buck; FB=100k/11k)
Texas Instruments
U7
1
BNO055
BNO055 (9-axis IMU + fusion; 3.3V native; I2C 0x28)
Bosch Sensortec
U8
1
DMP3098L-7
Q_PMOS reverse guard (DMP3098L-7: Vgs +/-20V, 2S-safe)
Diodes Incorporated
Q1
6
PT334-6B
PT334-6B (5mm filtered PT; LONG LEAD = EMITTER; SFH309 base symbol so ERC checks pins)
Everlight
Q2, Q3, Q4, Q5, Q6, Q7
12
BSS138LT1G
BSS138 (real part; Q_NMOS_GSD base symbol used so ERC checks pins)
onsemi
Q16, Q17, Q18, Q19, Q20, Q21, Q22, Q23 +4
6
BSS84LT1G
BSS84 (PMOS indicator driver; Q_PMOS base symbol)
onsemi
Q28, Q29, Q30, Q31, Q32, Q33
1
MMBT2222A-7-F
MMBT2222A (buzzer low-side driver; Q_NPN_BEC base symbol so ERC checks pins)
Diodes Incorporated
Q34
1
B2B-XH-A
BATT_IN_2S
JST
J1
1
B6B-ZR(LF)(SN)
MOTOR_A_N20_ENCODER
JST
J5
1
B6B-ZR(LF)(SN)
MOTOR_B_N20_ENCODER
JST
J6
1
USB4105-GF-A
USB-C rear (GCT USB4105; VBUS unused -- battery powers the board)
GCT
J7
1
61300611121
JTAG_1x6 (3V3,TMS,TCK,TDO,TDI,GND)
Wurth Elektronik
J8
1
B3B-XH-A(LF)(SN)
BALANCE_2S
JST
J9
1
XT60-M
BATT_IN_XT60 (parallel option -- ONE PACK ONLY)
AMASS
J10
1
CMT-8504-100-SMT-TR
CMT-8504-100-SMT (magnetic transducer 8.5mm, 15R coil, 4kHz; pads 3/4 are mechanical dummies)
Same Sky (CUI Devices)
BZ1
Show 34 more
QtyPartRefs
1
MINISMDC350F/16-2
2.6A/16V PPTC
Littelfuse
F1
8
TCRT5000
TCRT5000 (reflective sensor, filtered PT; PC817 base symbol so ERC checks pins)
Vishay
LS1, LS2, LS3, LS4, LS5, LS6, LS7, LS8
1
PTS645VL582LFS
BTN_A (start / BOOT)
C&K
SW1
1
PTS645VL582LFS
RESET
C&K
SW2
1
PTS645VL582LFS
BTN_B
C&K
SW3
1
PTS645VL582LFS
BTN_C
C&K
SW4
1
PCM12SMTR
PWR ALL (PCM12SMTR slide; slide-to-GND = OFF)
C&K
SW5
1
PCM12SMTR
PWR MOTORS (PCM12SMTR slide; slide-to-GND = motors OFF)
C&K
SW6
6
IR333-A
IR333-A (Everlight 5mm 940nm 20deg; LD271 base symbol; TSAL6400 is lifecycle-Obsolete at Lion)
Everlight
D1, D2, D3, D4, D5, D6
8
APT1608SURCK
Indicator LED 0603 super-red AlInGaP, high-efficiency bin REQUIRED at 1.4mA (e.g. Kingbright APT1608SURCK; LD271 base symbol for ERC)
Kingbright
D15, D16, D17, D18, D19, D20, D21, D22
6
APT1608SURCK
Indicator LED 0603 super-red AlInGaP, high-eff bin (e.g. APT1608SURCK)
Kingbright
D23, D24, D25, D26, D27, D28
1
1N4148W-7-F
1N4148W (flyback clamp across the buzzer coil)
Diodes Incorporated
D29
2
SRP4020TA-4R7M
4.7uH
Bourns
L1, L2
4
CL32B106KBJNNNE
10uF/25V
Samsung Electro-Mechanics
C1, C4, C11, C18
11
CL21B104KBCNNNC
100nF
Samsung Electro-Mechanics
C2, C3, C6, C8, C12, C13, C14, C15 +3
2
CL21A226KPCLRNC
22uF
Samsung Electro-Mechanics
C5, C7
1
CL21B105KAFNNNE
1uF
Samsung Electro-Mechanics
C9
2
CL21A106KPFNNNE
10uF
Samsung Electro-Mechanics
C10, C24
2
CL32A226KAJNNNE
22uF/25V
Samsung Electro-Mechanics
C16, C17
1
EEE-FT1C221AP
220uF/16V
Panasonic
C30
10
RC0805FR-07100KL
100k
Yageo
R1, R2, R61, R62, R63, R64, R69, R73 +2
1
RC0805FR-0739KL
39k
Yageo
R3
11
RC0805FR-0710KL
10k
Yageo
R6, R7, R8, R9, R10, R11, R55, R65 +3
2
RC0805FR-075K1L
5.1k
Yageo
R12, R56
14
RC0805FR-0747KL
47k
Yageo
R13, R15, R17, R19, R21, R23, R25, R27 +6
6
RC0805FR-0733RL
33
Yageo
R14, R16, R18, R20, R22, R24
8
RC0805FR-07120RL
120
Yageo
R26, R28, R30, R32, R34, R36, R38, R40
16
RC0805FR-071KL
1k
Yageo
R41, R42, R43, R44, R45, R46, R47, R48 +8
1
RC0805FR-0715KL
15k
Yageo
R68
1
RC0805FR-07220KL
220k
Yageo
R70
1
RC0805FR-07110KL
110k
Yageo
R71
1
RC0805FR-0711KL
11k
Yageo
R74
2
RC0805FR-074K7L
4.7k
Yageo
R77, R78
1
RC0805FR-07220RL
220
Yageo
R81

Micromouse design files

The KiCad project lives in the MukeshSethy/micromouse-runner repository on GitHub; these links point at the commit this page was built from.

Micromouse: common questions

What microcontroller does the Micromouse use?

The Micromouse is built around the ESP32-S3-WROOM-1-N8R2, from the ESP32 family.

How big is the Micromouse PCB?

The Micromouse measures 100 × 120 mm, has 4 copper layers and is 1.6 mm thick.

How many components are on the Micromouse?

177 components, from 54 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 Micromouse design files?

From the MukeshSethy/micromouse-runner 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 Micromouse design in my own project?

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

Can I test firmware for the Micromouse 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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