HardLabs

Balancing robot ruth

nruth633·3-wheel-balancing-robot·pcb/Balancing_robot_ruth.kicad_pcb

This repository ships a schematic but no board layout.

About the Balancing robot ruth PCB

Balancing robot ruth is an open source STM32 PCB design by nruth633, published on GitHub. It is a 2-layer board, with 56 components from 34 distinct parts.

Its main chip is the STM32F401RBTx, from the STM32 family. Other key parts include the LD1117S50TR_SOT223, TB6612FNG and USBLC6-2SC6. By type, the board carries 22 capacitors, 10 resistors, 9 connectors, 5 ICs, 5 diodes and 3 switches.

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

From the project

STM32F401 robot on a custom KiCad board, driven from a phone through an ESP8266

A three-wheel robot on an STM32F401 control board I designed in KiCad and soldered by hand. An ESP8266 runs its own WiFi access point and serves a control page, so you can drive it from a phone browser. Button presses go over a WebSocket to the ESP8266, which passes them to the STM32 over UART. Roll and pitch from the MPU6050 are sent back to the page. The STM32 firmware was provided by my professor; I built it and flashed the board with STM32CubeIDE and STM32CubeProgrammer.

Main components on the Balancing robot ruth

STM32F401RBTxLD1117S50TR_SOT223TB6612FNGUSBLC6-2SC6

Balancing robot ruth bill of materials (BOM)

56 components, 34 distinct parts.

QtyPartRefs
1
STM32F401RBTx
U1
2
LD1117S50TR_SOT223
U3, U6
1
TB6612FNG
U4
1
USBLC6-2SC6
U5
1
Crystal_GND24
Y1
1
Conn_01x04
J1
1
CONN_MPU6050
J2
1
USB_C_Receptacle_USB2.0_14P
J3
1
ESP_Conn
J4
1
BATT_CONN
J5
1
M1_CONN
J6
1
M2_CONN
J7
1
ENCODER_CONN
J8
1
Conn_01x05
J9
1
PTCSMD
F1
1
SLW-66527511-SMT-TR
S1
1
REGULATOR_SWITCH
S2
1
SW_uP_Reset
SW2
1
WS2812B
D1
1
USB_LED
D2
Show 14 more
QtyPartRefs
1
3V3_LED
D3
1
USER_LED
D4
1
5V_LED
D5
11
0.1uF
C1, C2, C3, C5, C6, C8, C13, C14 +3
1
2.2uF
C7
1
10uF
C9
5
10uF
C15, C16, C18, C23, C25
2
22p
C19, C20
1
0.01uF
C21
1
0.1uF
C24
4
1k
R1, R6, R9, R10
2
10k
R2, R17
2
22R
R3, R4
2
5.1k
R7, R8

Balancing robot ruth design files

The KiCad project lives in the nruth633/3-wheel-balancing-robot repository on GitHub; these links point at the commit this page was built from.

Balancing robot ruth: common questions

What microcontroller does the Balancing robot ruth use?

The Balancing robot ruth is built around the STM32F401RBTx, from the STM32 family.

How big is the Balancing robot ruth PCB?

The Balancing robot ruth has 2 copper layers and is 1.6 mm thick.

How many components are on the Balancing robot ruth?

56 components, from 34 distinct parts. The full bill of materials is listed on this page.

Where can I download the Balancing robot ruth design files?

From the nruth633/3-wheel-balancing-robot repository on GitHub, which has the KiCad layout and the schematic; the links under Design files point to each one.

Can I use the Balancing robot ruth design in my own project?

The repository has no license, so all rights stay with nruth633. Use it as a reference, and ask the author before reusing the design.

Can I test firmware for the Balancing robot ruth 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.

More boards in 3-wheel-balancing-robot

Similar boards