4 layers73 × 98 mm
ALBERT FLIGHTCOMPUTER
felixznr/ALBERT
Albert I was a rhesus macaque monkey and the first mammal launched on a rocket (V-2 Rocket "Blossom No. 3") on June 18, 1948.
161 partsMIT
2 layers71.8 × 48.5 mm
JOLT V1
GoTouchGra55/J.O.L.T112 degrees of freedom, 1 custom devboard, and 0 off-the-shelf solutions. JOLT is a quadruped robot built entirely from scratch.
- Size
- 71.8 × 48.5 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 73
- Nets
- 98
- Pads
- 377
- Tracks, vias
- 1,025, 191
- Pours
- 3
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 14 Mar 2026
- Updated
- 4 Jul 2026
Overview
JOLT V1 is an open-source printed circuit board by GoTouchGra55, from the GoTouchGra55/J.O.L.T repository on GitHub, published under the MIT licence. It is a 2-layer board of 71.8 × 48.5 mm with 73 parts on 98 nets, routed with 1,025 tracks and 191 vias.
It is built around the STM32F405RGT6, PCA9685BS and AMS1117-3.3, with the AMS1117-5.0, ICM-42688-P and SS14 among its other parts. Its parts include 23 capacitors, 13 resistors, 6 connectors, 5 ICs and 5 diodes. It belongs with the microcontroller boards and robots and motor control boards and the STM32 boards of this library.
Main components
7
STM32F405RGT6
LQFP-64(10x10)-40℃~+85℃ 1.8V~3.6V 12bit 12bit 168MHz 192KB 1MB 32 Bit 51 ARM Cortex-M4 Built-in FLASH LQFP-64(10x10) Microcontrollers (MCU/MPU/SOC) ROHSSTMicroelectronicsMicrocontrollers (MCU/MPU/SOC)
PCA9685BS
QFN-28-EP(6x6)QFN-28-EP(6x6) LED Drivers ROHSNXP SemiconductorsLED Drivers
AMS1117-3.3
SOT-223-40℃~+125℃ 0.003%Vout 1 1.1V@(800mA) 15V 1A 3.3V 5mA 72dB@(120Hz) Fixed Over Current Protection、Short Circuit Protection、Thermal shutdown Positive SOT-223 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSAdvanced Monolithic SystemsVoltage Regulators - Linear, Low Drop Out (LDO) RegulatorsAMS1117-5.0
SOT-223-40℃~+125℃ 1 1.3V 15V 1A 5V 60dB Fixed Positive Short Circuit Protection、Thermal shutdown SOT-223 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSAdvanced Monolithic SystemsVoltage Regulators - Linear, Low Drop Out (LDO) Regulators
ICM-42688-P
LGA-14(2.5x3)-40℃~+85℃ 1.71V~3.6V 16bit 2KB 7.5uA IMU (accelerometer + gyroscope) SPI、I2C X,Y,Z X,Y,Z ±16g ±2000dps Motion Event Detection, Synchronization, Timestamp Support LGA-14(2.5x3) Accelerometers ROHSTDK InvenSenseAccelerometers
SS14
SMA(DO-214AC)-55℃~+150℃ 1A 25A 300uA@40V 40V 550mV@1A Independent SMA(DO-214AC) Schottky Diodes ROHSMDDSchottky DiodesXT60-M
THrough holeTHroughhole New Arrivals ROHSChangzhou Amass ElecUncategorised
README
README.md🚧 Under Active Development 🚧
J.O.L.T ⚡
Overview
JOLT (short for Joint Operated Legged Terrain walker) is my attempt at making a 12-DOF quadruped robot from scratch.
Yes, I designed a custom STM32-based dev board, CAD, and will implement custom firmware! :3
PCB Design (2-layer)
Routing
Schematics
Mechanical Design
Btw you might be wondering why there are so many triangular cutouts in the design. Well first of all, it looks cool and secondly, I read an article about why triangles = strong. I won't bother explaining the physics here but, you can do your own research on why that is.
For those interested in the engineering principles, you can read more about why this geometry is superior for weight-to-strength ratios here: https://www.youtube.com/watch?v=Hn_iozUo9m4
.stl files can be found at
System Architecture
Power System
2s LiPo input (7.4V nominal voltage) is regulated to 5V and 3.3V rails for logic and peripherals.
Definitely don't use a higher cell lipo (unless you want to witness the magic smoke :p).
Control System
An STM32F405RGT6 MCU handles the math and motion control while a PCA9685 PWM servo controller chip controls all 12 servos across 4 legs.
Sensing
An onboard IMU provides orientation and motion feedback.
Hardware
Actuators
| Joint | Servo | Count |
|---|---|---|
| Hip yaw | MG996R | 4 |
| Hip pitch | MG996R | 4 |
| Knee | MG996R | 4 |
Development Board
| Component | Part |
|---|---|
| MCU | STM32F405RGT6 |
| IMU | ICM42688-P |
| Servo Driver | PCA9685BS |
| Power | 5V + 3.3V LDO |
| Debug | ST-Link v2 |
| Input | XT-60 (2s LiPo) |
Assembly Guide
Electronics
Unless you want a not so pleasant experience, I'd advise you to follow the order below:
- Solder all SMD components first (MCU, IMU, passives)
- Solder larger components (connectors, headers)
- Verify power rails (5V, 3.3V) before powering MCU
- Flash firmware via ST-Link
- Connect servos and test individual joints
Body
- Check parts for any sign of damage. Damaged part = Sad quadruped :(
- Insert each servo into its respective slot and screw with suitable screws.
- Make wiring as untangled as possible (because everyone likes cable management, right?)
⚠️ Warning
- Double-check polarity of capacitors and power input before powering the board. Otherwise you've made a fancy capacitor bomb :D
- Use a 2s LiPo battery to ensure safety of components
- DO NOT expose the LiPo battery to high heat or poke the cells.
Firmware
In progress...
Project Status
- CAD
- PCB
- Assembly
- Initial tests
Bill of Materials
| Name | Purpose | Quantity | Total Cost (USD) | Distributor |
|---|---|---|---|---|
| Brass inserts | To secure the screws | 1 | 4.21 | Daraz Nepal |
| Metal Servo Horns | To connect servo with the linkages | 2 | 18.35 | Daraz Nepal |
| Bearings | To ensure smooth movement | 1 | 5.47 | Daraz Nepal |
| 0603 Resistors | Used in circuit | 1 | 4.58 | Daraz Nepal |
| Devboard PCB | The brains and the body of the quadruped | 1 | 135.41 | JLCPCB |
| Female Header Pins | For GPIO pins | 1 | 0.71 | Daraz Nepal |
| XT-60 Connector | To connect the battery to the board | 1 | 0.54 | Daraz Nepal |
| M4 Screws | To secure the components | 1 | 3.96 | Daraz Nepal |
| MG996R Servos | To move the joints of the robot | 12 | 41.08 | Daraz Nepal |
| Capacitor | Used in circuit | 1 | 0.65 | Daraz Nepal |
| Tweezers | To hold tiny 0201 components | 1 | 2.62 | Daraz Nepal |
| Solder Paste | For soldering | 1 | 4.26 | Daraz Nepal |
| Shipping | Shipping costs | 1 | 26.81 | Daraz Nepal + JLCPCB |
| Total | 248.65 |
License
MIT License - see LICENSE
Author
Shaurya Tamang
GitHub: https://github.com/GoTouchGra55
Website: https://shauryatamang.netlify.app
Parts
73| Qty | Value | Footprint | References |
|---|---|---|---|
| 12 | Conn_01x03_Pin | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 |
| 8 | 100nF | Capacitor_SMD:C_0603_1608Metric | C1, C2, C3, C4, C5, C7, C10, C11 |
| 8 | 10k | Resistor_SMD:R_0201_0603Metric | R1, R12, R13, R14, R15, R16, R17, R18 |
| 4 | 22uF | Capacitor_SMD:C_0603_1608Metric | C12, C13, C22, C23 |
| 4 | ~ | MountingHole:MountingHole_3.2mm_M3_Pad_Via | H1, H2, H3, H4 |
| 3 | 2.2uF | Capacitor_SMD:C_0603_1608Metric | C17, C18, C20 |
| 2 | 10pF | Capacitor_SMD:C_0603_1608Metric | C15, C16 |
| 2 | 1K | Resistor_SMD:R_0201_0603Metric | R2, R3 |
| 2 | 1uF | Capacitor_SMD:C_0603_1608Metric | C8, C9 |
| 2 | 5.1k | Resistor_SMD:R_0201_0603Metric | R10, R11 |
| 2 | Conn_01x04_Pin | Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical | J1, J3 |
| 2 | RED | LED_SMD:LED_0402_1005Metric | D2, D3 |
| 2 | SS14 | Diode_SMD:D_SOD-123 | D4, D5 |
| 1 | 0.1uF | Capacitor_SMD:C_0603_1608Metric | C19 |
| 1 | 10nF | Capacitor_SMD:C_0603_1608Metric | C21 |
| 1 | 10uF | Capacitor_SMD:C_0603_1608Metric | C6 |
| 1 | 120R | Inductor_SMD:L_0603_1608Metric | FB1 |
| 1 | 16MHz | Crystal:Crystal_SMD_3225-4Pin_3.2x2.5mm | Y1 |
| 1 | 2200uF | Capacitor_THT:CP_Radial_D8.0mm_P3.50mm | C14 |
| 1 | 330 | Resistor_SMD:R_0201_0603Metric | R9 |
| 1 | AMS1117-3.3 | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | U2 |
| 1 | AMS1117-5.0 | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | U4 |
| 1 | Conn_01x05_Pin | Connector_PinHeader_2.54mm:PinHeader_1x05_P2.54mm_Vertical | J13 |
| 1 | Conn_01x10_Socket | Connector_PinSocket_2.54mm:PinSocket_1x10_P2.54mm_Vertical | J2 |
| 1 | Conn_01x13_Socket | Connector_PinSocket_2.54mm:PinSocket_1x13_P2.54mm_Vertical | J5 |
| 1 | ICM-42688-P | Driver Footprint:PQFN50P300X250X97-14N | U5 |
| 1 | LED | LED_SMD:LED_0402_1005Metric | D1 |
| 1 | PCA9685BS | Package_DFN_QFN:QFN-28-1EP_6x6mm_P0.65mm_EP4.25x4.25mm | U3 |
| 1 | STM32F405RGT6 | Package_QFP:LQFP-64_10x10mm_P0.5mm | U1 |
| 1 | SW_Push | Button_Switch_SMD:SW_Push_SPST_NO_Alps_SKRK | SW1 |
| 1 | SW_SPDT | Button_Switch_SMD:SW_SPDT_Shouhan_MSK12C02 | SW2 |
| 1 | TYPE-C 16PIN 2MD(073) | lcsc:USB-C-SMD_TYPE-C-6PIN-2MD-073 | USB1 |
| 1 | XT60-M | footprint:AMASS_XT60-M | J4 |
Similar boards
- 4 layers132.5 × 105 mm
HEXCORE PCB Design v0
JoshCrouch/HEXCORE
HEXCORE is a Hexapod-type robot that includes both a custom remote as well as vision system making use of 2.4GHz RF and WiFi respectively.
160 parts3 - 4 layers70 × 45 mm
Flight computer
Ben-Blair/Rocket-Build
Senior capstone project: demonstrate closed-loop lateral guidance of a high power rocket using forward canards, and handle the canard-wake-on-aft-fin interference problem correctly.
85 parts - 4 layers50 × 50 mm
HadesMicro
pms67/HadesFCS
Complete flight control system designed from scratch. Hardware designed with KiCad.
91 parts1kBSD-3-Clause - 4 layers99.2 × 98.9 mm
Micromouse kicad
tadzio8425/Micromouse
Micromouse developed by the IEEE Robotics and Automation Society chapter of the Universidad de Los Andes, Bogotá (2023-2024).
102 partsMIT - 4 layers53 × 20 mm
- 4 layers102.8 × 67 mm
Entegre fc
ErdemA33/stm32f405-flight-controller
Open-source ArduPilot-compatible flight controller for fixed-wing UAVs. STM32F405, 4-layer KiCad design, built in 5 modular stages.
129 parts3 - 4 layers68.6 × 53.3 mm
Questions
How big is the JOLT V1 PCB?
It measures 71.8 × 48.5 mm and has 2 copper layers, 1.6 mm thick.
What parts does the JOLT V1 use?
73 parts, built around the STM32F405RGT6, PCA9685BS, AMS1117-3.3 and AMS1117-5.0. 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 JOLT V1 KiCad files?
From the GoTouchGra55/J.O.L.T repository on GitHub, at the commit this page was made from: the board is hardware/KiCAD_files/JOLT_V1.kicad_pcb and its schematic hardware/KiCAD_files/Board_Power.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the JOLT V1 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).