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2 layers178.2 × 110.9 mmLegRobotBoardTeensy, the printed circuit board in 3D

LegRobotBoardTeensy

01binary/str1ker20

A human-scale mech integrated with Robot Operating System

Open in PCBKitView on GitHub.kicad_pcb
Size
178.2 × 110.9 mm
Copper layers
2
Thickness
1.6 mm
Parts
179
Nets
225
Pads
707
Tracks, vias
2,213, 419
Pours
2
Routed
Yes
KiCad
KiCad 9.0 (file 20241229)
Created
15 Feb 2020
Updated
18 Aug 2026

Overview

LegRobotBoardTeensy is an open-source printed circuit board by 01binary, from the 01binary/str1ker repository on GitHub. It is a 2-layer board of 178.2 × 110.9 mm with 179 parts on 225 nets, routed with 2,213 tracks and 419 vias.

It is built around the 74HCT125DB, TEENSY 4.1 and IS31FL3739-GRLS4-TR, with the SN74HC08DR(LX), BNO055 and AO3400A among its other parts. Its parts include 83 resistors, 24 diodes, 24 transistors, 20 connectors and 14 ICs. It belongs with the NXP (LPC, Kinetis, i.MX RT) boards of this library.

Main components

7

README

boards/LegRobotBoardTeensy/readme.md

Leg 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:

ModuleFunction
Teensy 4.1ROS Node
Adafruit 9-DOF IMUTF2 Transform

Devices

The following external components are connected to the board via JST-XH locking connectors:

DeviceFunction
8x IBT2 Motor DriversWheel 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 PotentiometersLeg Actuator Potentiometers (3 pin JST-XH connector: 3V3, SIG, GND)
4x Leg (Wheel) Encoder BoardWheel 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 functionIS31FL3730 pins
Digit common anodesSW1–SW8
Segments A, B, C, D, E, F, G, DPCS1–CS8

The 3621BH common-anode LED displays have the following pin footprint:

12345
1COM0BCED
2GDPAFCOM1

The digit segments are mapped as follows:

DigitSegments
digitA - Top of upper square
F - Left of upper square
B - Right of upper square
G - Link of both squares
E - Left of lower square
C - Right of lower square
D - Bottom of lower square
DP - 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.

PinFunctionGroup
A16Actuator 1 Potentiometer SIGFront Left Leg (Actuator)
D32Quadrature Encoder 1 AFront Left Leg (Wheel)
D33Quadrature Encoder 1 BFront Left Leg (Wheel)
D22Quadrature Encoder 1 IndexFront Left Leg (Wheel)
D26Motor Driver 1 ENFront Left Leg (Wheel)
D27Motor Driver 2 ENFront Left Leg (Actuator)
D0Motor Driver 1 RPWMFront Left Leg (Wheel)
D1Motor Driver 1 LPWMFront Left Leg (Wheel)
D2Motor Driver 2 RPWMFront Left Leg (Actuator)
D3Motor Driver 2 LPWMFront Left Leg (Actuator)
A17Actuator 2 Potentiometer SIGFront Right Leg (Actuator)
D34Quadrature Encoder 2 AFront Right Leg (Wheel)
D35Quadrature Encoder 2 BFront Right Leg (Wheel)
D23Quadrature Encoder 2 IndexFront Right Leg (Wheel)
D28Motor Driver 3 ENFront Right Leg (Wheel)
D29Motor Driver 4 ENFront Right Leg (Actuator)
D4Motor Driver 3 RPWMFront Right Leg (Wheel)
D5Motor Driver 3 LPWMFront Right Leg (Wheel)
D6Motor Driver 4 RPWMFront Right Leg (Actuator)
D7Motor Driver 4 LPWMFront Right Leg (Actuator)
A2Actuator 3 Potentiometer SIGRear Left Leg (Actuator)
D36Quadrature Encoder 3 ARear Left Leg (Wheel)
D37Quadrature Encoder 3 BRear Left Leg (Wheel)
D24Quadrature Encoder 3 IndexRear Left Leg (Wheel)
D30Motor Driver 5 ENRear Left Leg (Wheel)
D31Motor Driver 6 ENRear Left Leg (Actuator)
D8Motor Driver 5 RPWMRear Left Leg (Wheel)
D9Motor Driver 5 LPWMRear Left Leg (Wheel)
D10Motor Driver 6 RPWMRear Left Leg (Actuator)
D11Motor Driver 6 LPWMRear Left Leg (Actuator)
A3Actuator 4 Potentiometer SIGRear Right Leg (Actuator)
D38Quadrature Encoder 4 ARear Right Leg (Wheel)
D39Quadrature Encoder 4 BRear Right Leg (Wheel)
D25Quadrature Encoder 4 IndexRear Right Leg (Wheel)
D20Motor Driver 7 ENRear Right Leg (Wheel)
D21Motor Driver 8 ENRear Right Leg (Actuator)
D12Motor Driver 7 RPWMRear Right Leg (Wheel)
D13Motor Driver 7 LPWMRear Right Leg (Wheel)
D14Motor Driver 8 RPWMRear Right Leg (Actuator)
D15Motor Driver 8 LPWMRear Right Leg (Actuator)
A5I2C SCLIMU, LED Driver
A4I2C SDAIMU, LED Driver

Buses

DeviceBusAddress
IMUI2C0x28 (ADR tied to GND to set address)
IS31FL3730I2C0x74

Bill of Materials

ComponentDescription
IS31FL3730LED Driver/Multiplexer
CL3621BHLED Displays (2-Digit, 7-Segment, 10-Pin Common Anode) for Wheel Speeds
XL-1608SURC-06Red LED for EN signals
150080BS75000Blue LED for LPWM/RPWM signals
RC0603FR-07150RL150 Ohm LED Resistor
RC0603FR-07470RL470R Red LED Resistor
RCG06031K00FKEA1K LED Resistor
RC0603FR-072K2L2.2K Series Resistor (ADC channels)
CR0603-FX-4701ELF4.7K Pull-Up Resistor for LED Multiplexer
CRCW060310K0FKEA10K 555 Timer Pull-Up Resistor, Transistor Base Resistor
HoAR0603-1/10W-20KR-1%-TCR2520K LED Driver Current Setting Resistor
CRCW0603100KFKEA100K Transistor Base Pull-Down Resistor
RC0603FR-07360KL360K 555 Timer Resistor
C0402C103J4RACTU10nF 555 Timer Capacitor
CL10B473KB8NNNC47nF Decoupling Capacitor (ADC channels)
CC0603KRX7R9BB104100nF IMU Capacitor
CC0603JRX7R7BB1051uF 555 Timer Capacitor
SN74HC08DRIC Gate
MMBT3904LT1GLED Transistor
TLC555CDR555 Timer
JST_XH_B3B-XH-AActuator Potentiometers (3V3, SIG, GND)
Molex 0702460802Motor Drivers (LPWM, RPWM, L_EN, R_EN, L_IS, R_IS, 3V3, GND)
Teensy 4.1Teensy 4.1 without Headers
ICM-648-1-GT-HTTeensy IC DIP Socket, 48P
Needle HeadersTeensy Needle Headers for DIP Socket
DIP Socket 10 pinLED number displays IC socket

Parts

179
QtyValueFootprintReferences
2710KCRCW060310K0FKEA:CRCW060310K0FKEAR2, R28, R33, R36, R37, R39, R41, R43, R45, R47, R49, R51, R53, R55, R57, R59 +11
24100KCRCW0603100KFKEA:CRCW0603100KFKEAR34, R35, R38, R40, R42, R44, R46, R48, R50, R52, R54, R56, R58, R60, R62, R64 +8
24AO3400AAO3400A:AO3400AQ1, Q2, Q10, Q11, Q12, Q13, Q14, Q15, Q16, Q17, Q18, Q19, Q20, Q21, Q22, Q23 +8
16150RRC0603FR-07150RL:RESC1607X60NR11, R12, R13, R14, R15, R16, R17, R18, R19, R20, R21, R22, R23, R24, R25, R26
16BLUELED150080BS75000:150080BS75000_ModifiedD9, D10, D11, D12, D13, D14, D15, D16, D17, D18, D19, D20, D21, D22, D23, D24
12IDCConnector_IDC:IDC-Header_2x04_P2.54mm_VerticalJ1, J6, J7, J8, J9, J10, J11, J12, J13, J14, J15, J16
8470RRC0603FR-07470RL:RC0603FR-07470RLR3, R4, R5, R6, R7, R8, R9, R10
8REDLEDXL-1608SURC-06:XL-1608SURC-06D1, D2, D3, D4, D5, D6, D7, D8
674HCT125DLevelShifter:74HCT125DU5, U9, U10, U12, U13, U14
42.2KRC0603FR-072K2L:RC0603FR-072K2LR29, R30, R31, R32
447nFCL10B473KB8NNNC:CAPC1608X90NC5, C6, C7, C8
4B3B-XH-AConnector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_VerticalJ2, J3, J4, J5
4Conn_01x10Package_DIP:DIP-10_W10.16mmJ17, J18, J19, J20
4MountingHole_PadMountingHole:MountingHole_3.2mm_M3_ISO7380_PadMH1, MH2, MH3, MH4
4SN74HC08DRSN74HC08DR:SN74HC08DRU3, U4, U6, U7
31uFCC0603JRX7R7BB105:CC0603JRX7R7BB105C1, C3, C10
2100nFCC0603KRX7R9BB104:CC0603KRX7R9BB104C4, C9
24.7KCR0603-FX-4701ELF:CR0603-FX-4701ELFR79, R82
110nFC0402C103J4RACTU:C0402C103J4RACTUC2
120KCRCW060310K0FKEA:CRCW060310K0FKEAR84
1360KRC0603FR-07360KL:RC0603FR-07360KLR1
1BNO055BNO055:BNO055U8
1IS31FL3739-GRLS4-TRIS31FL3730-QFLS2-TR:IS31FL3730-QFLS2-TRU11
1TLC555CDRTLC555CDR:TLC555CDRU2
1Teensy4.1Teensy4.1:Teensy41U1

Questions

How big is the LegRobotBoardTeensy PCB?

It measures 178.2 × 110.9 mm and has 2 copper layers, 1.6 mm thick.

What parts does the LegRobotBoardTeensy use?

179 parts, built around the 74HCT125DB, TEENSY 4.1, IS31FL3739-GRLS4-TR and SN74HC08DR(LX). 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 LegRobotBoardTeensy KiCad files?

From the 01binary/str1ker repository on GitHub, at the commit this page was made from: the board is boards/LegRobotBoardTeensy/LegRobotBoardTeensy.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 LegRobotBoardTeensy 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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