2 layers35 × 50 mm
Imu rc hand unit
DimitriOnLSD/imu-rc
Gesture-based RC car controller using ESP32-S3, BLE, LSM6DSO IMU, OLED display, and LiPo battery with USB-C charging.
73 parts7MIT
2 layers35 × 50 mm
Imu rc hand unit
DimitriOnLSD/imu-rc7Gesture-based RC car controller using ESP32-S3, BLE, LSM6DSO IMU, OLED display, and LiPo battery with USB-C charging.
- Size
- 35 × 50 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 76
- Nets
- 89
- Pads
- 303
- Tracks, vias
- 430, 296
- Pours
- 4
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 8 Dec 2024
- Updated
- 13 Jul 2025
Overview
Imu rc hand unit is an open-source printed circuit board by DimitriOnLSD, from the DimitriOnLSD/imu-rc repository on GitHub, published under the MIT licence. It is a 2-layer board of 35 × 50 mm with 76 parts on 89 nets, routed with 430 tracks and 296 vias.
It is built around the CP2102N-EK, ESP32-S3-WROOM-1-N8 and AP2112K-3.3, with the LSM6DSO, ESD5B5V0WT and IRLML6344TRPBF among its other parts. Its parts include 29 resistors, 17 capacitors, 8 transistors, 6 ICs and 6 diodes. It belongs with the sensors and measurement and power boards and the ESP32 boards of this library.
Main components
11CP2102N-EK
-- USB Conversion Modules ROHSSilicon LabsUSB Conversion Modules
ESP32-S3-WROOM-1-N8
SMD,25.5x18mm-40℃~+85℃ -98.2dBm 2.4GHz 20.5dBm 355mA 3V~3.6V 95mA Bluetooth5.0 ESP32-S3 Chip On-board PCB Antenna UART、SPI、I2C、I2S、USB SMD,25.5x18mm WiFi Modules ROHSEspressif SystemsWiFi Modules
AP2112K-3.3
SOT253.3V 600mA CMOS Low Dropout Linear Regulator with EnableDiodes IncorporatedUncategorised
LSM6DSO
LGA-14(2.5x3)-40℃~+85℃ 1.71V~3.6V 9KB Accelerometer Gyroscope SPI、I2C X,Y,Z X,Y,Z ±16g ±2000dps LGA-14(2.5x3) Accelerometers ROHSSTMicroelectronicsAccelerometers
ESD5B5V0WT
SOD-52312.5V 5.8V 5V TVS SOD-523 ESD and Surge Protection (TVS/ESD) ROHSDIOTECESD And Surge Protection (TVS/ESD)
IRLML6344TRPBF
SOT-23-55℃~+150℃ 1 N-channel 1.1V 1.3W 29mΩ@4.5V 30V 46pF 5A 6.8nC 650pF SOT-23 MOSFETs ROHSInfineon TechnologiesMOSFETs
B3U-1000P
SMD,3x2.5mm-25℃~+70℃ 1.53N 1.6mm 12V 2.5mm 3mm 50mA Round Button SMD(SMT) Tab SPST Surface Mount,Vertical SMD,3x2.5mm Tactile Switches ROHSOmronTactile SwitchesBC817-25
SOT-23-55℃~+150℃ 1 NPN 100 100MHz 100nA 300mW 45V 500mA 5V 700mV NPN SOT-23 Bipolar (BJT) ROHShongjiachengBipolar (BJT)DMP3160L-7-VB
SOT-23(TO-236)MOSFETsVBsemi Elec
BAT20J
SOD-3231 Independent 12uA@15V 1A 23V 5A 620mV@1A SOD-323 Schottky Diodes ROHSGuangdong HottechSchottky DiodesBSS138
SOT-23-55℃~+150℃ 1 N-channel 1.1Ω@10V、1.2Ω@4.5V 1.2V 1.7nC@10V 17.5pF 340mA 350mW 50V 6.5pF N-Channel SOT-23 MOSFETs ROHShongjiachengMOSFETs
README
README.md
IMU-RC
This repository contains the final project for an Electronics and Computer Engineering degree: IMU-RC, an innovative hand-held controller for RC cars.
Features
Hand Unit
The hand unit is a battery-powered controller featuring:
- ESP32-S3 WROOM module on a custom PCB designed in KiCad.
- LSM6DSO IMU sensor for motion detection.
- BLE communication using a client/server protocol with the RC car.
- OLED screen (128x32) for menu options, diagnostics, and sensitivity adjustments.
- Four buttons for navigation: Back, Up, Select, Down.
- RGB LED to display battery or communication status.
- Battery Management System (BMS) with BQ297 and MCP73831 to charge a 3.7V 250mAh LiPo battery via USB-C.
- BOOT and RESET buttons for easy firmware handling.
Gesture-Based Control
Control the RC car with intuitive hand gestures:
- Lean forward: Car moves forward.
- Lean backward: Car reverses.
- Lean left or right: Car rotates left or right.
- Control mode toggle: For 4-motor vehicles with omni-directional wheels, enable sideways movement for strafing.
Additional Features
- Car stats menu: Check car battery levels.
- Safety mechanism: Infrared proximity sensors prevent collision with walls/objects:
- 2-motor cars: Front and back sensors.
- 4-motor cars: Side sensors added for additional safety during strafing.
Technical Highlights
- Custom PCB: Designed in KiCad for compact, efficient performance.
- Battery Management: MCP73831 handles charging, and BQ297 ensures protection against overcharging/discharging.
- Versatile Control: Adaptable to different RC car configurations (2-motor or 4-motor).
- OLED Menu System: Offers detailed settings, diagnostics, and real-time feedback.
Usage
IMU-RC is designed to bring modern, intuitive control to RC vehicles, making it a perfect blend of technology and engineering creativity.
Parts
76| Qty | Value | Footprint | References |
|---|---|---|---|
| 14 | 10k | Resistor_SMD:R_0805_2012Metric | R6, R10, R11, R12, R13, R14, R15, R16, R17, R18, R19, R20, R21, R24 |
| 8 | 100nF/50V | Capacitor_SMD:C_0805_2012Metric | C6, C7, C8, C9, C10, C11, C12, C17 |
| 4 | 4.5x4.5x9mm | Button_Switch_SMD:SW_SPST_PTS647_Sx50 | BTN1, BTN2, BTN3, BTN4 |
| 3 | 1uF/16V | Capacitor_SMD:C_0805_2012Metric | C13, C14, C15 |
| 3 | 2k2 | Resistor_SMD:R_0805_2012Metric | R8, R25, R26 |
| 3 | ESD5B5V0WT | Diode_SMD:D_SOD-523 | D1, D2, D3 |
| 3 | IRLML6344TRPBF | Package_TO_SOT_SMD:SOT-23 | Q1, Q2, Q4 |
| 2 | 1uF/16V | Capacitor_SMD:C_0603_1608Metric | C2, C4 |
| 2 | 330 | Resistor_SMD:R_0805_2012Metric | R9, R29 |
| 2 | 5k1 | Resistor_SMD:R_0805_2012Metric | R1, R2 |
| 2 | 68 | Resistor_SMD:R_0805_2012Metric | R27, R28 |
| 2 | B3U-1000P | Button_Switch_SMD:SW_SPST_B3U-1000P | BOOT, RST |
| 2 | BC817-25 | Package_TO_SOT_SMD:SOT-23 | Q7, Q8 |
| 2 | DMP3160L-7 | Package_TO_SOT_SMD:SOT-23 | Q3, Q5 |
| 1 | 100nF/16V | Capacitor_SMD:C_0603_1608Metric | C5 |
| 1 | 10uF/16V | Capacitor_SMD:C_0805_2012Metric | C1 |
| 1 | 10uF/25V | Capacitor_SMD:C_0603_1608Metric | C3 |
| 1 | 10uF/25V | Capacitor_SMD:C_0805_2012Metric | C16 |
| 1 | 11k | Resistor_SMD:R_0805_2012Metric | R23 |
| 1 | 1N5819 | Diode_SMD:D_SOD-123 | D4 |
| 1 | 1k | Resistor_SMD:R_0805_2012Metric | R5 |
| 1 | 22k1 | Resistor_SMD:R_0805_2012Metric | R3 |
| 1 | 2k | Resistor_SMD:R_0805_2012Metric | R7 |
| 1 | 3k | Resistor_SMD:R_0805_2012Metric | R22 |
| 1 | 47k5 | Resistor_SMD:R_0805_2012Metric | R4 |
| 1 | AP2112K-3.3 | Package_TO_SOT_SMD:SOT-23-5 | U4 |
| 1 | BAT20J | Diode_SMD:D_SOD-323 | D6 |
| 1 | BQ297xy | Package_SON:WSON-6_1.5x1.5mm_P0.5mm | U3 |
| 1 | BSS138 | Package_TO_SOT_SMD:SOT-23 | Q6 |
| 1 | CP2102N | Package_DFN_QFN:QFN-24-1EP_4x4mm_P0.5mm_EP2.6x2.6mm | U6 |
| 1 | ESP32-S3-WROOM-1 | PCM_Espressif:ESP32-S3-WROOM-1 | U5 |
| 1 | JST SH1.0 | IMURCLibrary:JST_SH_SM04B-SRSS-TB_1x04-1MP_P1.00mm_Horizontal | J2 |
| 1 | LED_RKGB | IMURCLibrary:LED_D5.0mm-4_RKGB | D7 |
| 1 | LSM6DSO | IMURCLibrary:LGA-14L_3x2.5mm_P0.5mm | U1 |
| 1 | LiPo 3.7V 600mAh | Connector_JST:JST_PH_S2B-PH-K_1x02_P2.00mm_Horizontal | BT1 |
| 1 | MCP73831-2-MC | Package_DFN_QFN:DFN-8-1EP_3x2mm_P0.5mm_EP1.7x1.4mm | U2 |
| 1 | SW_SPDT | Button_Switch_THT:SW_Slide_SPDT_Angled_CK_OS102011MA1Q | SW1 |
| 1 | USB_C_Receptacle_USB2.0_16P | Connector_USB:USB_C_Receptacle_GCT_USB4105-xx-A_16P_TopMnt_Horizontal | J1 |
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Questions
How big is the Imu rc hand unit PCB?
It measures 35 × 50 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Imu rc hand unit use?
76 parts, built around the CP2102N-EK, ESP32-S3-WROOM-1-N8, AP2112K-3.3 and LSM6DSO. 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 Imu rc hand unit KiCad files?
From the DimitriOnLSD/imu-rc repository on GitHub, at the commit this page was made from: the board is imu_rc_hand_unit/pcb/v1.2/imu_rc_hand_unit.kicad_pcb and its schematic imu_rc_car/pcb/imu_rc_car/v1.1/imu_rc_car.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Imu rc hand unit design in my own project?
Its repository publishes it under the MIT licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).