HardLabs

Liquorice

SohumNigam·StabilityBot_MK1·hardware/PCB/Liquorice_PCB/Liquorice_PCB.kicad_pcb

Liquorice PCB layout, top view — open source board by SohumNigam

About the Liquorice PCB

Liquorice is an open source PCB design by SohumNigam, published on GitHub. It is a 2-layer board measuring 53 × 66.6 mm, with 19 components from 7 distinct parts.

Other key parts include the TB6612FNG and BMI320. By type, the board carries 7 connectors, 6 capacitors, 4 resistors and 2 ICs.

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

From the project

A self-balancing two-wheeled robot. an inverted pendulum stabilized by IMU feedback and PID motor control, being built up toward full 4-state LQR control on a custom PCB.

A self-balancing two-wheeled robot. an inverted pendulum stabilized by IMU feedback and PID motor control, being built up toward full 4-state LQR control on a custom PCB.

Full write-up / showcase: sohumnigam.github.io/projects/stabilitybotMK1.html

I wanted a project that went past the usual "balance a robot with a PID loop" hobby build. Something that let me go deep on control theory (state-space modeling, LQR, Kalman filtering), embedded firmware, and PCB design all at once. The long-term goal is a robot that balances using a full 4-state LQR controller (θ, θ̇, x, ẋ) on hardware I designed…

Liquorice, from the project README
From the project README

Main components on the Liquorice

TB6612FNGBMI320

Liquorice bill of materials (BOM)

19 components, 7 distinct parts — part numbers from the project's BOM.

QtyPartRefs
1
TB6612FNG
U1
1
BMI320
U3
5
Conn_01x02_Pin
J1, J2, J3, J4, J5
2
Conn_01x19_Pin
J6, J7
4
100nF
C5, C6, C7, C10
2
10uF
C8, C9
4
5.1k
R1, R2, R3, R4

Liquorice design files

The KiCad project lives in the SohumNigam/StabilityBot_MK1 repository on GitHub; these links point at the commit this page was built from.

Liquorice: common questions

How big is the Liquorice PCB?

The Liquorice measures 53 × 66.6 mm, has 2 copper layers and is 1.6 mm thick.

How many components are on the Liquorice?

19 components, from 7 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 Liquorice design files?

From the SohumNigam/StabilityBot_MK1 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 Liquorice design in my own project?

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

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