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Traction aware amr

Snow-Warrior07·traction-aware-amr·hardware/kicad/traction_carrier.kicad_pcb

Traction aware amr PCB layout, top view — open source RP2040/RP2350 board by Snow-Warrior07

About the Traction aware amr PCB

Traction aware amr is an open source RP2040/RP2350 PCB design by Snow-Warrior07, published on GitHub under the MIT license. It is a 2-layer board measuring 96 × 96 mm, with 29 components from 18 distinct parts.

Its main chip is the Raspberry Pi Pico RP2040, from the RP2040/RP2350 family. Other key parts include the 74HC08 AND gate and 74HC74 fault latch. By type, the board carries 10 resistors, 8 capacitors, 7 connectors, 3 ICs and 1 switch.

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

From the project

Virtual warehouse rover: linear/nonlinear control, traction, ROS 2, verified KiCad PCB and interactive measured demo.

An entirely virtual control-engineering project: a differential-drive rover, linear PI/LQR and nonlinear tracking, traction estimation/supervision, ROS 2, a custom controller PCB, and live tests.

The plant models independent wheel/body velocity, motor current, payload and friction-limited contact. A noisy delayed pose sensor plus wheel encoders and IMU feeds the estimator. Simulator truth is used only for sensor generation and evaluation.

Traction aware amr, from the project README
From the project README

Main components on the Traction aware amr

Raspberry Pi Pico RP204074HC08 AND gate74HC74 fault latch

Traction aware amr bill of materials (BOM)

29 components, 18 distinct parts — part numbers from the project's BOM.

QtyPartRefs
1
Raspberry Pi Pico RP2040
U1
1
74HC08 AND gate
U2
1
74HC74 fault latch
U3
1
5V power / 24V sense
J1
1
LEFT DRIVER
J2
1
RIGHT DRIVER
J3
1
LEFT ENCODER
J4
1
RIGHT ENCODER
J5
1
3V3 IMU
J6
1
UART DEBUG
J7
1
Manual drive reset
SW1
2
1u
C1, C2
5
100N
100n
C3, C4, C6, C7, C8
1
10U
10u
C5
2
1k
R1, R2
1
100K
100k
R3
5
10K
10k
R4, R7, R8, R9, R10
2
2.2K
2.2k
R5, R6

Traction aware amr design files

The KiCad project lives in the Snow-Warrior07/traction-aware-amr repository on GitHub; these links point at the commit this page was built from.

Traction aware amr: common questions

What microcontroller does the Traction aware amr use?

The Traction aware amr is built around the Raspberry Pi Pico RP2040, from the RP2040/RP2350 family.

How big is the Traction aware amr PCB?

The Traction aware amr measures 96 × 96 mm, has 2 copper layers and is 1.6 mm thick.

How many components are on the Traction aware amr?

29 components, from 18 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 Traction aware amr design files?

From the Snow-Warrior07/traction-aware-amr 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 Traction aware amr design in my own project?

Yes, under the terms of its MIT license, which Snow-Warrior07 chose for the repository.

Can I test firmware for the Traction aware amr without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug RP2040/RP2350 firmware against it before you order a PCB.

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