2 layers178.2 × 110.9 mm
LegRobotBoardTeensy
01binary/str1ker
A human-scale mech integrated with Robot Operating System
179 parts20
2 layers44.1 × 18.4 mm
LegEncoderBoard
01binary/str1ker20A human-scale mech integrated with Robot Operating System
- Size
- 44.1 × 18.4 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 45
- Nets
- 32
- Pads
- 115
- Tracks, vias
- 430, 45
- Pours
- 2
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 15 Feb 2020
- Updated
- 18 Aug 2026
Overview
LegEncoderBoard is an open-source printed circuit board by 01binary, from the 01binary/str1ker repository on GitHub. It is a 2-layer board of 44.1 × 18.4 mm with 45 parts on 32 nets, routed with 430 tracks and 45 vias.
It is built around the SN74LVC3G17DCTR, AS5047P-ATST and BAT54, with the MMBT3904 among its other parts. Its parts include 17 resistors, 9 capacitors, 3 diodes, 3 transistors and 2 ICs.
Main components
4
SN74LVC3G17DCTR
MSOP-8-2.8mm-40℃~+85℃ 1.65V~5.5V 10uA 3 3 32mA 32mA 5.4ns@3.3V,50pF 74LVC Push-pull Schmitt trigger Unidirectional MSOP-8-2.8mm Buffers, Drivers, Receivers, Transceivers ROHSTexas InstrumentsBuffers, Drivers, Receivers, Transceivers
AS5047P-ATST
TSSOP-14TSSOP-14 Position Sensors ROHSAdvanced Monolithic SystemsPosition Sensors
BAT54
SOT-23200mA 2uA@25V 30V 800mV@100mA Independent SOT-23 Schottky Diodes ROHSFOSANSchottky DiodesMMBT3904
SOT-23-55℃~+150℃ 1 NPN 100 100nA 200mA 200mW 300MHz 300mV 40V 6V NPN SOT-23 Bipolar (BJT) ROHSJiangsu Changjing Electronics Technology (CJ)Bipolar (BJT)
README
boards/LegRobotBoardTeensy/readme.mdLeg Robot Board
A board that controls the mobile platform with four mecanum wheels:
- Leg Actuators
- Leg Actuator Potentiometers
- Leg Wheels
- Leg Wheel Encoders
- 9-DOF IMU
- Enabled and PWM activity LEDs
- Wheel Speed 7-Segment LED Indicators
Modules
The following components are placed onto the board as modules:
| Module | Function |
|---|---|
| Teensy 4.1 | ROS Node |
| Adafruit 9-DOF IMU | TF2 Transform |
Devices
The following external components are connected to the board via JST-XH locking connectors:
| Device | Function |
|---|---|
| 8x IBT2 Motor Drivers | Wheel Motor Drivers, Leg Actuator Drivers (8 pin IDC connector: 3V3, GND, L_EN, R_EN, LPWM, RPWM, L_IS, R_IS) |
| 4x Feedback Rod Linear Actuator Potentiometers | Leg Actuator Potentiometers (3 pin JST-XH connector: 3V3, SIG, GND) |
| 4x Leg (Wheel) Encoder Board | Wheel Encoders (8 pin IDC connector: A, B, I, 3V3, and four GND's |
Functionality
PWM
There are four legs and each has two motors: a linear lift actuator and a brushed DC motor that runs the wheel.
Each PWM channel gets its own EN (Enabled) signal. The current sense signals (L_IS, R_IS) are included in the connector layout and sent over the wire, but not used anywhere on the board because there aren't enough pins for them. A multiplexer can be added later if the signals are desired.
ADC
The linear lift actuators have built-in multi-turn potentiometers. These are routed to Teensy ADC pins.
Quadrature
The wheel encoders are connected to each of the four wheels, outputting A, B, and I pulses counting rotations (1000 pulses per revolution).
Number Displays
Four 7-segment common anode LED number displays with decimal points display the speed of each wheel from 0.0 to 1.0. They are driven by an LED multiplexer.
The LED multiplexer is mapped to four 2-digit LED displays with decimal point as follows:
| Display function | IS31FL3730 pins |
|---|---|
| Digit common anodes | SW1–SW8 |
| Segments A, B, C, D, E, F, G, DP | CS1–CS8 |
The 3621BH common-anode LED displays have the following pin footprint:
| 1 | 2 | 3 | 4 | 5 | |
|---|---|---|---|---|---|
| 1 | COM0 | B | C | E | D |
| 2 | G | DP | A | F | COM1 |
The digit segments are mapped as follows:
| Digit | Segments |
|---|---|
 | A - Top of upper squareF - Left of upper squareB - Right of upper squareG - Link of both squaresE - Left of lower squareC - Right of lower squareD - Bottom of lower squareDP - Decimal point |
Pin Mapping
This board is essentially a shield. Labeled locking connectors are provided for all of the devices, PWM enabled/activity is indicated by LEDs, and wheel speeds are indicated by number displays.
| Pin | Function | Group |
|---|---|---|
A16 | Actuator 1 Potentiometer SIG | Front Left Leg (Actuator) |
D32 | Quadrature Encoder 1 A | Front Left Leg (Wheel) |
D33 | Quadrature Encoder 1 B | Front Left Leg (Wheel) |
D22 | Quadrature Encoder 1 Index | Front Left Leg (Wheel) |
D26 | Motor Driver 1 EN | Front Left Leg (Wheel) |
D27 | Motor Driver 2 EN | Front Left Leg (Actuator) |
D0 | Motor Driver 1 RPWM | Front Left Leg (Wheel) |
D1 | Motor Driver 1 LPWM | Front Left Leg (Wheel) |
D2 | Motor Driver 2 RPWM | Front Left Leg (Actuator) |
D3 | Motor Driver 2 LPWM | Front Left Leg (Actuator) |
A17 | Actuator 2 Potentiometer SIG | Front Right Leg (Actuator) |
D34 | Quadrature Encoder 2 A | Front Right Leg (Wheel) |
D35 | Quadrature Encoder 2 B | Front Right Leg (Wheel) |
D23 | Quadrature Encoder 2 Index | Front Right Leg (Wheel) |
D28 | Motor Driver 3 EN | Front Right Leg (Wheel) |
D29 | Motor Driver 4 EN | Front Right Leg (Actuator) |
D4 | Motor Driver 3 RPWM | Front Right Leg (Wheel) |
D5 | Motor Driver 3 LPWM | Front Right Leg (Wheel) |
D6 | Motor Driver 4 RPWM | Front Right Leg (Actuator) |
D7 | Motor Driver 4 LPWM | Front Right Leg (Actuator) |
A2 | Actuator 3 Potentiometer SIG | Rear Left Leg (Actuator) |
D36 | Quadrature Encoder 3 A | Rear Left Leg (Wheel) |
D37 | Quadrature Encoder 3 B | Rear Left Leg (Wheel) |
D24 | Quadrature Encoder 3 Index | Rear Left Leg (Wheel) |
D30 | Motor Driver 5 EN | Rear Left Leg (Wheel) |
D31 | Motor Driver 6 EN | Rear Left Leg (Actuator) |
D8 | Motor Driver 5 RPWM | Rear Left Leg (Wheel) |
D9 | Motor Driver 5 LPWM | Rear Left Leg (Wheel) |
D10 | Motor Driver 6 RPWM | Rear Left Leg (Actuator) |
D11 | Motor Driver 6 LPWM | Rear Left Leg (Actuator) |
A3 | Actuator 4 Potentiometer SIG | Rear Right Leg (Actuator) |
D38 | Quadrature Encoder 4 A | Rear Right Leg (Wheel) |
D39 | Quadrature Encoder 4 B | Rear Right Leg (Wheel) |
D25 | Quadrature Encoder 4 Index | Rear Right Leg (Wheel) |
D20 | Motor Driver 7 EN | Rear Right Leg (Wheel) |
D21 | Motor Driver 8 EN | Rear Right Leg (Actuator) |
D12 | Motor Driver 7 RPWM | Rear Right Leg (Wheel) |
D13 | Motor Driver 7 LPWM | Rear Right Leg (Wheel) |
D14 | Motor Driver 8 RPWM | Rear Right Leg (Actuator) |
D15 | Motor Driver 8 LPWM | Rear Right Leg (Actuator) |
A5 | I2C SCL | IMU, LED Driver |
A4 | I2C SDA | IMU, LED Driver |
Buses
| Device | Bus | Address |
|---|---|---|
| IMU | I2C | 0x28 (ADR tied to GND to set address) |
| IS31FL3730 | I2C | 0x74 |
Bill of Materials
| Component | Description |
|---|---|
| IS31FL3730 | LED Driver/Multiplexer |
| CL3621BH | LED Displays (2-Digit, 7-Segment, 10-Pin Common Anode) for Wheel Speeds |
| XL-1608SURC-06 | Red LED for EN signals |
| 150080BS75000 | Blue LED for LPWM/RPWM signals |
| RC0603FR-07150RL | 150 Ohm LED Resistor |
| RC0603FR-07470RL | 470R Red LED Resistor |
| RCG06031K00FKEA | 1K LED Resistor |
| RC0603FR-072K2L | 2.2K Series Resistor (ADC channels) |
| CR0603-FX-4701ELF | 4.7K Pull-Up Resistor for LED Multiplexer |
| CRCW060310K0FKEA | 10K 555 Timer Pull-Up Resistor, Transistor Base Resistor |
| HoAR0603-1/10W-20KR-1%-TCR25 | 20K LED Driver Current Setting Resistor |
| CRCW0603100KFKEA | 100K Transistor Base Pull-Down Resistor |
| RC0603FR-07360KL | 360K 555 Timer Resistor |
| C0402C103J4RACTU | 10nF 555 Timer Capacitor |
| CL10B473KB8NNNC | 47nF Decoupling Capacitor (ADC channels) |
| CC0603KRX7R9BB104 | 100nF IMU Capacitor |
| CC0603JRX7R7BB105 | 1uF 555 Timer Capacitor |
| SN74HC08DR | IC Gate |
| MMBT3904LT1G | LED Transistor |
| TLC555CDR | 555 Timer |
| JST_XH_B3B-XH-A | Actuator Potentiometers (3V3, SIG, GND) |
| Molex 0702460802 | Motor Drivers (LPWM, RPWM, L_EN, R_EN, L_IS, R_IS, 3V3, GND) |
| Teensy 4.1 | Teensy 4.1 without Headers |
| ICM-648-1-GT-HT | Teensy IC DIP Socket, 48P |
| Needle Headers | Teensy Needle Headers for DIP Socket |
| DIP Socket 10 pin | LED number displays IC socket |
Parts
45| Qty | Value | Footprint | References |
|---|---|---|---|
| 5 | 100K | Resistor100K:CRCW0603100KFKEA | R1, R5, R10, R16, R17 |
| 5 | BAT54 | EnvelopeDiode:BAT54WS-7-F | CR1, CR2, CR3, CR4, CR5 |
| 4 | 1uF | Capacitor1uF:CC0603JRX7R7BB105 | C3, C5, C6, C7 |
| 4 | MountingHole | MountingHole:MountingHole_2.5mm_Pad | H1, H2, H3, H4 |
| 3 | 10nF | Capacitor10nF:GRM1885C1H103JA01D | C2, C8, C9 |
| 3 | 22R | Resistor22:RC0603FR-0722RL | R13, R14, R15 |
| 3 | 470K | Resistor470K:RC0603FR-07470KL | R3, R8, R12 |
| 3 | 47K | Resistor47K:RC0603FR-0747KL | R2, R7, R11 |
| 3 | MMBT3904 | Transistor:MMBT3904LT1G | Q1, Q2, Q3 |
| 2 | 100nF | Capacitor100nF:CC0603KRX7R9BB104 | C1, C4 |
| 2 | 150R | Resistor150:RESC1607X60N | R6, R9 |
| 2 | BLUELED | LedBlue:150080BS75000_Modified | D2, D3 |
| 1 | 1K | Resistor1K:RCG06031K00FKEA | R4 |
| 1 | AS5047P-ATST | AS5047P-ASST:AS5047P-ASST | U1 |
| 1 | Conn_01x04 | Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical | J2 |
| 1 | Conn_01x05 | Connector_IDC:IDC-Header_2x04_P2.54mm_Vertical | J1 |
| 1 | REDLED | LedRed:NCD0603R1 | D1 |
| 1 | SN74LVC3G17DCTR | SchmittBuffer:SN74LVC3G17DCTR | U2 |
Questions
How big is the LegEncoderBoard PCB?
It measures 44.1 × 18.4 mm and has 2 copper layers, 1.6 mm thick.
What parts does the LegEncoderBoard use?
45 parts, built around the SN74LVC3G17DCTR, AS5047P-ATST, BAT54 and MMBT3904. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
Where can I download the LegEncoderBoard KiCad files?
From the 01binary/str1ker repository on GitHub, at the commit this page was made from: the board is boards/LegEncoderBoard/LegEncoderBoard.kicad_pcb and its schematic boards/ArmEncoderBoard/ArmEncoderBoard.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the LegEncoderBoard design in my own project?
Its repository states no licence, so its author keeps all rights: ask 01binary before reusing the design.
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