This is what the board can do:
- Can precisely control up to 4 Brushed DC Motors with or without quadrature encoders.
- Can precisely control Serial Bus Servos from Feetech, Waveshare, etc.
- Communicate with and control a variety of 2D LiDARs.
- Communicate with and control other robotics hardware through CAN FD.
- Supports voltages up to 36V.
- Incredible support for ROS 2.
The board has two microcontrollers:
- An ESP32-S3 module, specifically the ESP32-S3-WROOM-1-N16R8, which comes with 16 MB flash and 8 MB PSRAM.
- An STM32G431KBU6 being used specifically for motor control.
There are no robot control boards out there that allow one to make a fully functional robot with just the board and a power source as the electronics.
Before this board existed, to make a robot that has 4 motors, 2 robot arms, and a LiDAR, one would need to buy the following:
- A development board of a microcontroller like an ESP32.
- A board that can connect to and control 4 DC Motors with quadrature encoders.
- A board that can control Serial Bus Servos.
- An SBC like a Raspberry Pi for the LiDAR.
And even after all of this, it would still be a headache to get all of that working together and using ROS 2 with it.
- Connect a USB-C cable to one of the board's USB-C ports.
- If using the USB-CDC port, make sure to enable USB-CDC in Arduino IDE before trying to upload the firmware.
- Flash one of the firmware examples.
- Connect the board to the peripherals you are using according to the wiring guide in the firmware examples.
| Reference | Qty | Value / Part | Footprint | Manufacturer | MPN | Unit Price ($) | Total Price ($) |
|---|---|---|---|---|---|---|---|
| C1,C3,C5,C6,C14,C15,C17,C18,C38 | 9 | 10µF, 16V | C_0603_1608Metric | Murata Electronics | GRT188R61C106KE13D | 0.447 | 4.023 |
| C2,C4,C7,C8,C9,C13,C16,C19,C20,C29,C32,C33,C37,C63,C64,C65 | 16 | 100nF, 16V | C_0402_1005Metric | Samsung Electro-Mechanics | CL05B104KO5NNNC | 0.025 | 0.400 |
| C10,C11 | 2 | 4.7µF, 50V | C_0805_2012Metric | Murata Electronics | GRT21BR61H475KE13L | 0.940 | 1.880 |
| C12,C23,C26,C36,C41,C47,C53,C59 | 8 | 100nF, 50V | C_0402_1005Metric | Murata Electronics | GRM155R61H104KE14D | 0.120 | 0.960 |
| C21,C22,C24,C25,C34,C35,C42,C43,C45,C46,C51,C52,C57,C58 | 14 | 10µF, 50V | C_0805_2012Metric | Murata Electronics | GRM21BR61H106KE43L | 0.608 | 8.512 |
| C27 | 1 | 470pF, 50V | C_0402_1005Metric | YAGEO | CC0402KRX7R9BB471 | 0.304 | 0.304 |
| C28 | 1 | 100µF | CP_Elec_8x6.9 | KEMET | A768KE107M1VLAS036 | 2.375 | 2.375 |
| C30,C31 | 2 | 10pF, 1% | C_0402_1005Metric | Murata Electronics | GRT1555C1H100FA02D | 0.245 | 0.490 |
| C39,C48,C54,C60 | 4 | 22nF, 50V | C_0402_1005Metric | Murata Electronics | GRM155R71H223JA12D | 0.235 | 0.940 |
| C40,C49,C55,C61 | 4 | 220nF, 16V | C_0603_1608Metric | Samsung Electro-Mechanics | CL10B224KO8NNNC | 0.251 | 1.004 |
| C44,C50,C56,C62 | 4 | 470nF, 10V | C_0402_1005Metric | Murata Electronics | GRM155R71A474KE01D | 0.319 | 1.276 |
| D1,D2,D3,D5,D7,D8,D9,D10,D11,D12,D13,D14,D16 | 13 | SS14 | D_SMA | onsemi | SS14 | 0.189 | 2.457 |
| D6 | 1 | D_TVS_Dual_AAC | SOT-23-3 | onsemi | NUP2105LT1G | 0.403 | 0.403 |
| J1,J2 | 2 | USB-C Receptacle USB2.0 16P | USB4105-xx-A 16P | GCT | USB4105-GF-A | 1.251 | 2.502 |
| J3,J6 | 2 | XT60-M | XT60 Vertical | Changzhou Amass Elec | XT60-M | 0.906 | 1.812 |
| J7 | 1 | 5267-03A | Molex SPOX 3-pin | Molex | 22-03-5035 | 0.564 | 0.564 |
| J8 | 1 | Screw Terminal 1x05 | TB007-508-05 | Same Sky | TB007-508-05BE | 2.330 | 2.330 |
| J10,J11,J12,J13 | 4 | Screw Terminal 1x06 | TB007-508-06 | Same Sky | TB007-508-06BE | 2.736 | 10.944 |
| J15 | 1 | JST SH 4-pin | SM04B-SRSS-TB | JST | SM04B-SRSS-TB | 2.013 | 2.013 |
| L1 | 1 | 3.3µH | SRR1210A | Bourns | SRR1210-3R3Y | 2.278 | 2.278 |
| Q1,Q2 | 2 | MMBT3904 | SOT-23 | onsemi | MMBT3904LT1G | 0.509 | 1.018 |
| Q3 | 1 | MMBT3906 | SOT-23 | onsemi | MMBT3906LT1G | 1.198 | 1.198 |
| R1,R2,R3,R4 | 4 | 5.1kΩ, 0.1% | R_0402_1005Metric | Panasonic | ERA-2AEB512X | 0.473 | 1.892 |
| R5 | 1 | 1kΩ, 5% | R_0402_1005Metric | YAGEO | RC0402JR-071KL | 0.132 | 0.132 |
| R6 | 1 | 22.1kΩ, 1% | R_0402_1005Metric | Panasonic | ERJ-2RKF2212X | 0.485 | 0.485 |
| R7 | 1 | 47.5kΩ, 1% | R_0402_1005Metric | YAGEO | RC0402FR-0747K5L | 0.123 | 0.123 |
| R8,R11,R12,R15,R17,R19,R20,R23,R24,R26,R27,R29,R30,R31 | 14 | 10kΩ, 5% | R_0402_1005Metric | YAGEO | RC0402JR-0710KL | 0.015 | 0.210 |
| R9 | 1 | 100kΩ, 0.1% | R_0402_1005Metric | YAGEO | RT0402BRE07100KL | 1.542 | 1.542 |
| R10 | 1 | 19.1kΩ, 0.1% | R_0402_1005Metric | YAGEO | RT0402BRD0719K1L | 1.475 | 1.475 |
| R13 | 1 | 20kΩ, 5% | R_0402_1005Metric | YAGEO | RC0402JR-0720KL | 0.108 | 0.108 |
| R14,R16 | 2 | 100Ω, 5% | R_0402_1005Metric | Panasonic | ERJ-PA2J101X | 1.455 | 2.910 |
| R18 | 1 | 120Ω, 5% | R_0805_2012Metric | Panasonic | ERJ-UP6F1200V | 0.220 | 0.220 |
| R21,R22,R25,R28 | 4 | 330kΩ, 5% | R_0402_1005Metric | YAGEO | RC0402FR-07330KL | 0.032 | 0.128 |
| SW1,SW2 | 2 | Push Button | KMR2 | C&K | KMR223G LFG | 1.811 | 3.622 |
| U1,U2 | 2 | USBLC6-2P6 | SOT-666 | STMicroelectronics | USBLC6-2P6 | 0.720 | 1.440 |
| U3 | 1 | CP2102N USB-UART | QFN-24 | Silicon Labs | CP2102N-A02-GQFN24 | 4.025 | 4.025 |
| U4 | 1 | ESP32-S3-WROOM-1-N16R8 | ESP32-S3-WROOM-1 | Espressif Systems | ESP32-S3-WROOM-1-N16R8 | 4.830 | 4.830 |
| U5 | 1 | LMR51635YDDCR | TSOT-23-6 | Texas Instruments | LMR51635YDDCR | 3.220 | 3.220 |
| U6 | 1 | LD39200PU33R | LD39200PU33R | STMicroelectronics | LD39200PU33R | 1.302 | 1.302 |
| U7 | 1 | SN74LVC1G125DBVR | SOT-23-5 | Texas Instruments | SN74LVC1G125DBVR | 0.604 | 0.604 |
| U8 | 1 | SN74LVC1G126DBVR | SOT-23-5 | Texas Instruments | SN74LVC1G126DBVR | 0.973 | 0.973 |
| U9 | 1 | MCP2518FD CAN-FD Controller | DFN-14 | Microchip Technology | MCP2518FDT-E/QBB | 2.278 | 2.278 |
| U10 | 1 | MCP2562 CAN Transceiver | SOIC-8 | Microchip Technology | MCP2562-E/SN | 1.775 | 1.775 |
| U11 | 1 | STM32G431KBU6 | QFN-32 | STMicroelectronics | STM32G431KBU6 | 5.110 | 5.110 |
| U12,U13,U14,U15 | 4 | DRV8256PRGER | VQFN-24 | Texas Instruments | DRV8256PRGER | 2.467 | 9.868 |
| Y1 | 1 | 40 MHz Crystal | 5032 SMD | SUZHOU HANGJING ELEC&TECH CO., LTD | 0153G2-40.000F18HPLJK | 2.800 | 2.800 |
| Full PCB Manufacturing | 1 | ~150 | ~150 | ||||
| ST-Link/V2 | 1 | https://www.prayogindia.in/product/st-link-v2-in-circuit-debugger-programmer-for-stm8-and-stm32 | ~15 | ~15 | |||
| Grand Total | ~165 |