Motor Controller
About the Motor Controller PCB
Motor Controller is an open source ESP32 PCB design by pestvillian, published on GitHub. It is a 2-layer board measuring 89 × 74 mm, with 88 components from 29 distinct parts.
Its main chip is the ESP32-C6-MINI-1U-H4, from the ESP32 family. Other key parts include the TP6841S6-A, AMS1117-3.3 and A4988SETTR-T. By type, the board carries 35 capacitors, 32 resistors, 8 diodes, 6 ICs, 2 switches and 1 connector.
It belongs with the robotics & motion designs in this gallery.
From the project
ECE129 Repo
4/17/25 9:55pm. Added TMC2226 stepper driver to schematic and followed the datasheet. left questions in the schematic. main concerns are vmotor filtering, do we need diagnostic pins like pdn_uart, diag and index, and what vsense resistors do we use? there are other smaller questions too. -Dorjee
4/17/25 11:42pm. made some small updates. vmotor basic filtering is two 100n decouple caps and one 100u bulk cap. they recommend low ESR caps, which provide faster response time. however, they also recommend voltage spikes to be delayed, which would imply high ESR caps would be good too? need to do…
Main components on the Motor Controller
Motor Controller bill of materials (BOM)
88 components, 29 distinct parts — part numbers from the project's BOM.
| Qty | Part | Footprint | Refs |
|---|---|---|---|
| 1 | TP6841S6-A TP6841S6 TECH PUBLIC | SOT-23-6 | U201 |
| 1 | AMS1117-3.3 AMS1117 Advanced Monolithic Systems | SOT-223-3_TabPin2 | U202 |
| 1 | ESP32-C6-MINI-1U-H4 ESP32-C6-MINI-1 Espressif Systems | ESP32-C6-MINI-1U | U301 |
| 3 | A4988SETTR-T A4988 Allegro MicroSystems, LLC | QFN-28-1EP_5x5mm_P0.5mm_EP3.25x3.25mm_ThermalVias | U401, U402, U403 |
| 1 | MicroXNJ USB_B_Micro SHOU HAN | USB_Micro-B_Molex-105017-0001 | J302 |
| 3 | 3314J-1-103E 10k BOURNS | Potentiometer_Bourns_3314J_Vertical | RV401, RV402, RV403 |
| 2 | TS-1187A-B-A-B SW_Push XKB Connection | SW_Push_1P1T_XKB_TS-1187A | SW301, SW302 |
| 1 | KT-0603R RED Hubei KENTO Elec | LED_0603_1608Metric | D201 |
| 3 | PSM712-LF-T7 ProTek Devices | SOT-23 | D301, D302, D304 |
| 1 | SS14 MDD(Microdiode Semiconductor) | D_SMA | D303 |
| 3 | SMAJ28A Littelfuse | D_SMA | D401, D402, D403 |
| 1 | SMDRH105R-220MT 22u SXN(Shun Xiang Nuo Elec) | L_10.4x10.4_H4.8 | L201 |
| 14 | CC0603KRX7R9BB104 100n YAGEO | C_0603_1608Metric | C201, C203, C403, C405, C406, C408, C411, C413 +6 |
| 2 | FS55X226K500EHG 22u PSA(Prosperity Dielectrics) | C_2220_5750Metric | C202, C204 |
| 6 | CL10A106MA8NRNC 10u Samsung Electro-Mechanics | C_0603_1608Metric | C205, C206, C302, C402, C410, C418 |
| 6 | CL05B104KO5NNNC 100n Samsung Electro-Mechanics | C_0402_1005Metric | C301, C303, C305, C401, C409, C417 |
| 1 | CL05A105KA5NQNC 1u Samsung Electro-Mechanics | C_0402_1005Metric | C304 |
| 3 | CL21B224KBFNNNE 220n Samsung Electro-Mechanics | C_0805_2012Metric | C404, C412, C420 |
| 3 | RVT1V101M0607 100u Honor Elec | CP_Elec_6.3x7.7 | C407, C415, C423 |
| 1 | 0603WAF5101T5E 5k1 UNI-ROYAL(Uniroyal Elec) | R_0603_1608Metric | R201 |
Show 9 more
| Qty | Part | Footprint | Refs |
|---|---|---|---|
| 7 | 0603WAF1003T5E 100k UNI-ROYAL(Uniroyal Elec) | R_0603_1608Metric | R202, R408, R409, R416, R419, R423, R424 |
| 1 | 0603WAF6802T5E 68k UNI-ROYAL(Uniroyal Elec) | R_0603_1608Metric | R203 |
| 1 | 0603WAF1302T5E 13k UNI-ROYAL(Uniroyal Elec) | R_0603_1608Metric | R204 |
| 5 | 0603WAF1002T5E 10k UNI-ROYAL(Uniroyal Elec) | R_0603_1608Metric | R301, R304, R406, R415, R422 |
| 2 | 0603WAF0000T5E 0R UNI-ROYAL(Uniroyal Elec) | R_0603_1608Metric | R302, R303 |
| 3 | 0603WAF1502T5E 15k UNI-ROYAL(Uniroyal Elec) | R_0603_1608Metric | R401, R407, R412 |
| 3 | 0603WAF100JT5E 10R UNI-ROYAL(Uniroyal Elec) | R_0603_1608Metric | R402, R410, R417 |
| 3 | 0603WAF2402T5E 24k UNI-ROYAL(Uniroyal Elec) | R_0603_1608Metric | R403, R411, R418 |
| 6 | RL12FTNR100 100m TA-I Tech | R_1206_3216Metric | R404, R405, R413, R414, R420, R421 |
Motor Controller design files
The KiCad project lives in the pestvillian/ASAT repository on GitHub; these links point at the commit this page was built from.
Motor Controller: common questions
What microcontroller does the Motor Controller use?
The Motor Controller is built around the ESP32-C6-MINI-1U-H4, from the ESP32 family.
How big is the Motor Controller PCB?
The Motor Controller measures 89 × 74 mm, has 2 copper layers and is 1.6 mm thick.
How many components are on the Motor Controller?
88 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 Motor Controller design files?
From the pestvillian/ASAT 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 Motor Controller design in my own project?
The repository has no license, so all rights stay with pestvillian. Use it as a reference, and ask the author before reusing the design.
Can I test firmware for the Motor Controller 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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