2 layers90.1 × 85.5 mm PCBsens, the printed circuit board in 3D

PCBsens

A Mecanum-wheeled robot for civil protection, powered by a Raspberry Pi orchestrating two custom ESP32 PCBs, sensors, a robotic arm, and a drone companion over MQTT. It navigates autonomously, maps its environment, avoids obstacles, and is controlled via voice AI, a MAUI app, or browser dashboard.

Full screen GitHub .kicad_pcb

Size: 90.1 × 85.5 mm
Copper layers: 2
Thickness: 1.6 mm
Parts: 41
Nets: 39
Pads: 131
Tracks, vias: 128, 9
Pours: 3
Routed: Yes
KiCad: KiCad 9.0 (file 20241229)
Created: 29 May 2026
Updated: 24 Oct 2026

Overview

PCBsens is an open-source printed circuit board by Dragonyx118, from the Dragonyx118/LagmaBills repository on GitHub. It is a 2-layer board of 90.1 × 85.5 mm with 41 parts on 39 nets, routed with 128 tracks and 9 vias.

Its parts include 19 connectors, 16 resistors and 2 capacitors. It belongs with the home automation and IoT and robots and motor control boards and the ESP32 boards of this library.

README

README.md

L.A.G.M.A. B.I.L.L.S.

Land And Ground-to-Midair Agent — Built for Intelligent Linked Local Support

Presentato ad Arduino Day 2025.

Team

Daniele Cerioli (Dragonyx) — firmware, software, PCB, integrazione di sistema
Simone Panelli (Tabella_Brodosa) — componenti AI
Andrei Corduneanu — modellazione 3D, falegnameria

Repositories

Repo	Contenuto
`lagmabills` (questo)	Firmware ESP32, codice Python Raspberry Pi, PCB (KiCad), modelli 3D
`lagmabills-app`	App companion LagmaIpp (.NET MAUI, Windows + Android)
`lagmabills-web`	Sito web del progetto

Struttura del repository

text

lagmabills/
├── firmware/
│   ├── firm_esp32_motori/     # Firmware PCBmotori (PlatformIO)
│   └── firm_esp32_sensori/    # Firmware PCBsensori (PlatformIO)
├── raspberry/
│   ├── odometria.py           # Odometria encoder Mecanum
│   ├── occupancyGrid.py       # Mappatura locale log-odds
│   ├── navigator.py           # Navigazione autonoma Potential Field
│   ├── GPS.py                 # Lettura NEO-6M → MQTT
│   ├── myViewerServer.py      # Dashboard web (HTTP + WebSocket + Leaflet)
│   ├── rasp_cam/              # Streaming camera OV5647
│   ├── odo_module/            # Moduli navigazione/mappatura aggiuntivi
│   └── Bamberg/
│       ├── ESP-IDF/           # Firmware ESP-Drone (ESP-IDF)
│       └── firm_drone/        # Bridge MQTT ↔ CRTP/UDP drone + test
├── AI_Bepo/                   # Server AI vocale (wakeword, STT, LLM, TTS)
├── AmazingArm/                # Modelli e risorse braccio robotico
├── PCB/
│   ├── PCBmotori/             # KiCad — ESP32 motori (4-layer)
│   ├── PCBsensori/            # KiCad — ESP32 sensori
│   └── PCBalim/               # KiCad — distribuzione alimentazione
├── Hardware/                  # Datasheet, pinout, power budget, BOM
├── models_3d/                 # Modelli 3D stampabili
└── docs/
    ├── img/                   # Foto e video dimostrativi
    └── LAGMABILLS.pptx        # Presentazione progetto

Hardware

Componente	Descrizione
Raspberry Pi 4B (4GB)	Cervello centrale, broker MQTT, Tailscale VPN
PCBmotori (ESP32, 4-layer)	4× JGA25-370 Mecanum + encoder, 2× TB6612FNG, I2C slave 0x08
PCBsensori (ESP32)	6× HC-SR04, MPU-6050, 3× TCRT5000, PCA9685 → braccio 6DOF, I2C slave 0x09
PCBalim	Distribuzione alimentazione custom, 2× LiPo 3S 5500mAh
ESP-Drone (ESP32-S2)	Ricognizione aerea, CRTP/UDP
OV5647 CSI	Camera RPi, stream MJPEG
ReSpeaker 2-Mic HAT	WM8960, wakeword ONNX, DOA GCC-PHAT
NEO-6M GPS	Tracciamento posizione world frame
Display 7" HDMI	Faccia animata responsiva (RPi)
Speaker Bluetooth	Audio stereo, musica / sirene / TTS

Dettagli completi in Hardware/BOM.xlsx e Hardware/pinoutEsp32.xlsx.

Architettura software

Tutto comunica via MQTT (Mosquitto su RPi, localhost:1883, accessibile anche via Tailscale).

text

              ┌─────────────────────────┐
              │  Mosquitto Broker (RPi) │
              └────────────┬────────────┘
     ┌──────────┬──────────┼──────────┬──────────┐
     │          │          │          │          │
odometria   occupancy   navigator  drone_bridge  GPS
     │        grid.py      .py        .py       .py
     │          │
  robot/     robot/
 motori/     mappa/
 stato       grid

Topic	Direzione	Descrizione
`robot/motori/cmd`	Pi → ESP32	Comandi movimento
`robot/motori/stato`	ESP32 → Pi	Encoder + PWM
`robot/sensori/distanze`	ESP32 → Pi	Distanze HC-SR04 (cm)
`robot/sensori/imu`	ESP32 → Pi	Accelerometro + giroscopio
`robot/odometria`	Pi → tutti	Posa X, Y, θ
`robot/mappa/grid`	Pi → viewer	Occupancy grid JSON
`robot/cliff/stato`	Pi → tutti	Stato sensori cliff
`robot/nav/cmd`	app → Pi	start / stop / reset_goal
`robot/nav/goal`	app → Pi	Goal `{x, y}` in world frame
`drone/cmd/rpyt`	app → Pi	Roll, pitch, yaw, thrust

Installazione (Raspberry Pi)

bash

# Dipendenze Python
pip install paho-mqtt numpy sounddevice onnxruntime websockets \
            flask flask-socketio pyserial pynmea2 faster-whisper psutil

# Mosquitto broker
sudo apt install mosquitto mosquitto-clients
sudo systemctl enable mosquitto

# Driver ReSpeaker 2-Mic HAT
# Seguire istruzioni in Hardware/ o repo seeed-voicecard

# Avviare i moduli (esempio)
python3 raspberry/odometria.py &
python3 raspberry/occupancyGrid.py &
python3 raspberry/navigator.py &
python3 raspberry/GPS.py &
python3 raspberry/myViewerServer.py &

Dashboard web: http://<ip-pi>:8080

Firmware ESP32 (PlatformIO)

Le cartelle in firmware/ sono progetti PlatformIO completi e pronti da compilare (pio run).

Librerie richieste (platformio.ini):

PubSubClient
ArduinoJson
MPU6050_light
Adafruit PWM Servo Driver
Preferences

Le credenziali WiFi e broker MQTT vengono salvate in NVS e possono essere aggiornate via I2C dal Pi senza reflashare.

📦 Non vuoi compilare tu stesso? Scarica le cartelle sorgente aggiornate automaticamente ad ogni modifica dalla sezione Releases.

Pipeline AI vocale

text

ReSpeaker mic → wakeword ("hey nova") → DOA GCC-PHAT (stima direzione)
    → WebSocket stream PCM16 raw
    → Whisper STT → LLM (Ollama) → Piper TTS (voce "Miro" italiano)
    → audio risposta → Speaker Bluetooth

Demo

Primi test di movimento

https://github.com/Dragonyx118/LagmaBills/raw/main/docs/img/first_test_move.mp4

Prototipo in movimento

https://github.com/Dragonyx118/LagmaBills/raw/main/docs/img/proto_move.mp4

Test braccio robotico

https://github.com/Dragonyx118/LagmaBills/raw/main/docs/img/test_arm.mp4

Struttura in legno

https://github.com/Dragonyx118/LagmaBills/raw/main/docs/img/wood_body.mp4

GitHub riproduce automaticamente i link diretti .mp4 di un repository quando incollati su una riga propria nel README, mostrando un player inline.

Licenza

Category and platform

Home automation and IoT Robots and motor control ESP32

Topics

ai-agent automation esp32 iot mqtt open-source raspberry security self-driving-car

Project files

Show this board on your page

https://pcbkit.io/boards/Dragonyx118/LagmaBills

The board's own page, for a message or a post.

Source

Repository: Dragonyx118/LagmaBills
Board file: PCB/PCBsens/PCBsens.kicad_pcb
Commit: 72c4825
Homepage: dragonyx118.github.io/LagmaBills-Web
Licence: Not stated

Parts

Qty	Value	Footprint	References
6	10kOhm	Resistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P7.62mm_Horizontal	R7, R8, R9, R10, R11, R12
6	20kOhm	Resistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P7.62mm_Horizontal	R1, R2, R3, R4, R5, R6
4	4.7kΩ	Resistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P7.62mm_Horizontal	R13, R14, R15, R16
1	100nF 50V	Capacitor_THT:C_Disc_D5.0mm_W2.5mm_P5.00mm	C2
1	100µF 25V	Capacitor_THT:CP_Radial_D8.0mm_P3.50mm	C1
1	AlimServo	TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-2_1x02_P5.00mm_Horizontal	J19
1	Alimentazione	TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-2_1x02_P5.00mm_Horizontal	J17
1	Giroscopio/Accelerometro	Connector_PinSocket_2.54mm:PinSocket_1x08_P2.54mm_Vertical	J10
1	MG996R conn	TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-3_1x03_P5.00mm_Horizontal	J12
1	MG996R conn2	TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-3_1x03_P5.00mm_Horizontal	J18
1	PCA9685 (1)	TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-4_1x04_P5.00mm_Horizontal	J8
1	Pompa	TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-3_1x03_P5.00mm_Horizontal	J16
1	SensSeguiLineaCEN	Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical	J14
1	SensSeguiLineaDX	Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical	J15
1	SensSeguiLineaSX	Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical	J13
1	SensUltraDestra	Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical	J3
1	SensUltraFronte	Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical	J1
1	SensUltraFronteGiù	Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical	J2
1	SensUltraRetro	Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical	J4
1	SensUltraRetroGiù	Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical	J6
1	SensUltraSinistra	Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical	J7
1	Socket Esp32 1	Connector_PinSocket_2.54mm:PinSocket_1x15_P2.54mm_Vertical	J5
1	Socket Esp32 2	Connector_PinSocket_2.54mm:PinSocket_1x15_P2.54mm_Vertical	J9
1	i2c	TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-3_1x03_P5.00mm_Horizontal	J11

The 37 most common of 41 parts.

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Questions

How big is the PCBsens PCB?

It measures 90.1 × 85.5 mm and has 2 copper layers, 1.6 mm thick.

What parts does the PCBsens use?

41 parts. 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 PCBsens KiCad files?

From the Dragonyx118/LagmaBills repository on GitHub, at the commit this page was made from: the board is PCB/PCBsens/PCBsens.kicad_pcb and its schematic PCB/PCBalim/PCBalim.kicad_sch. PCBKit opens the board in the browser, with nothing to install.

Can I use the PCBsens design in my own project?

Its repository states no licence, so its author keeps all rights: ask Dragonyx118 before reusing the design.

PCBsens

Overview

README

L.A.G.M.A. B.I.L.L.S.

Team

Repositories

Struttura del repository

Hardware

Architettura software

Installazione (Raspberry Pi)

Firmware ESP32 (PlatformIO)

Pipeline AI vocale

Demo

Licenza

Parts

More from Dragonyx118/LagmaBills

PcbMotori

PCBalim

Similar boards

TLF35584 breakout

Daylight Disco

ICE40DevBoard

Easy PD Sink

Dumbpad

EYEBROW WARNING INDICATOR LEFT

CanTactDist

PG attiny404

Questions

How big is the PCBsens PCB?

What parts does the PCBsens use?

Where can I download the PCBsens KiCad files?

Can I use the PCBsens design in my own project?