HardLabs

Micromouse

opatiny·micromouse·electronics/ms-pcb.kicad_pcb

Micromouse PCB layout, top view — open source ESP32 board by opatiny

About the Micromouse PCB

Micromouse is an open source ESP32 PCB design by opatiny, published on GitHub under the CERN-OHL-P-2.0 license. It is a 2-layer board measuring 110 × 110 mm, with 35 components from 29 distinct parts.

Its main chip is the ESP32-S3-DEVKITC-1U-N8R2, from the ESP32 family. Other key parts include the GY-521. By type, the board carries 8 resistors, 4 diodes, 3 connectors, 3 capacitors, 2 ICs and 1 battery holder.

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

From the project

Designing a custom micromouse robot.

YouTube demo of the project: https://youtu.be/nz4QlaSIkbY

Main repository for my bachelor's thesis project.

The software fo this robot can be found in the two following repositories:

- Software for the microcontroller: opatiny/ms-software - TypeScript code for the debug web page (is then built and uploaded on the MCU): opatiny/ms-webpage

This project was inspired by the micromouse competitions, in which small autonomous maze-solving robots compete to solve an unknown maze in the shortest possible time. The main focus of the project was to design a micromouse from scratch, which implied…

Micromouse, from the project README
From the project README

Main components on the Micromouse

ESP32-S3-DEVKITC-1U-N8R2GY-521

Micromouse bill of materials (BOM)

35 components, 29 distinct parts — part numbers from the project's BOM.

QtyPartRefs
1
ESP32-S3-DEVKITC-1U-N8R2
U1
1
GY-521
U2
1
Left motor
J1
1
Right motor
J2
1
XT60-M
J3
1
Battery
BT1
1
DRV8833
DRV1
1
Bumper_front
H1
1
Bumper_back
H2
2
Motor_holes
H3, H4
2
Caster_wheel
H5, H6
1
PKLCS1212E20A0-R1
LS1
1
PTS526_SMG15_SMTR2_LFS
S1
1
Left
VL53L1X1
1
Front-right
VL53L1X2
1
Front-left
VL53L1X3
1
Right
VL53L1X4
1
Front
VL53L1X5
1
D_Schottky
D1
1
DEBUG
D2
Show 9 more
QtyPartRefs
1
LED_VBAT
D3
1
LED_3V3
D4
2
0.1uF
C1, C2
1
220uF
C3
1
20k
R1
3
10k
R2, R3, R4
1
40k
R5
1
5k
R6
2
1k
R7, R8

Micromouse design files

The KiCad project lives in the opatiny/micromouse 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-DEVKITC-1U-N8R2, from the ESP32 family.

How big is the Micromouse PCB?

The Micromouse measures 110 × 110 mm, has 2 copper layers and is 1.6 mm thick.

How many components are on the Micromouse?

35 components, from 29 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 opatiny/micromouse 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?

Yes, under the terms of its CERN-OHL-P-2.0 license, which opatiny chose for the repository.

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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