4 layers95.2 × 85.7 mm
ESP32PLC
duyhohoang/duyhohoang.github.io
Hoàng Duy — PCB Design, Embedded Systems and IoT portfolio
190 parts
2 layers100 × 100 mm
Rover drive PCB
NeuroCircuits/ESP32-S3-Rover-Controller-PCBCustom ESP32-S3 based controller PCB for a 6-wheel robotic platform, featuring servo control, DC motor drivers, IMU, RFID, USB programming, and dedicated power regulation.
- Size
- 100 × 100 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 66
- Nets
- 73
- Pads
- 279
- Tracks, vias
- 950, 55
- Pours
- 2
- Routed
- Yes
- KiCad
- KiCad 8.0 (file 20240108)
- Created
- 9 Aug 2026
- Updated
- 9 Aug 2026
Overview
Rover drive PCB is an open-source printed circuit board by NeuroCircuits, from the NeuroCircuits/ESP32-S3-Rover-Controller-PCB repository on GitHub. It is a 2-layer board of 100 × 100 mm with 66 parts on 73 nets, routed with 950 tracks and 55 vias.
It is built around the ESP32-S3-WROOM-1U-N8R8, PCA9685PW and AMS1117-3.3, with the TYPE-C-31-M-12 among its other parts. Its parts include 13 capacitors, 10 resistors, 10 switches, 5 diodes and 5 connectors. It belongs with the robots and motor control boards and the ESP32 boards of this library.
Main components
4
ESP32-S3-WROOM-1U-N8R8
SMD,19.2x18mm-103.5dBm -40℃~+65℃ 2.4GHz 20.5dBm 355mA 3V~3.6V 95mA Bluetooth5.0 ESP32-S3R8 UART、SPI、I2C、GPIO、I2S、USB SMD,19.2x18mm WiFi Modules ROHSEspressif SystemsWiFi Modules
PCA9685PW
TSSOP-28-40℃~+85℃ 100kHz~1MHz 16 2.3V~5.5V 25mA 5.5V Built-in PWM TSSOP-28 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) Regulators
TYPE-C-31-M-12
SMD-30℃~+80℃ 1 10,000 cycles 16P 20V 5A 7.35mm Female Surface Mount, Right Angle Type-C SMD USB Connectors ROHSHRO ElectronicsUSB Connectors
README
README.mdESP32-S3-Rover-Controller-PCB
Custom ESP32-S3 based controller PCB for a 6-wheel robotic platform, featuring servo control, DC motor drivers, IMU, RFID, USB programming, and dedicated power regulation.
Overview
This project is a custom controller PCB designed for a mobile robotic platform.
The board is built around the ESP32-S3-WROOM-1U and integrates the main electronics required for controlling the robot, reducing the need for separate wiring and controller boards.
The PCB was designed from schematic to final PCB layout in KiCad, including routing, power distribution, grounding, mounting holes, design-rule checking, and Gerber generation.
Features
-
ESP32-S3-WROOM-1U main controller
-
USB Type-C programming interface
-
USB-to-UART interface
-
Automatic programming / reset circuitry
-
PCA9685 16-channel PWM controller
-
Support for multiple high-torque servos
-
Interfaces for 4 × BTS motor-driver modules
-
Control for 6 DC motors
-
MPU6050 IMU interface
-
RC522 RFID interface
-
3.3 V regulated supply for logic
-
5 V regulated supply
-
Dedicated 6 V servo power rail
-
High-current power input
-
Main power switching
-
Fuse protection
-
Multiple bulk and decoupling capacitors
-
Through-hole mounting holes
-
Two-layer PCB
-
Custom copper power and GND planes
-
PCB Design
Designed using KiCad.
The design includes:
- Schematic capture
- Component selection and footprint assignment
- PCB layout
- Power and ground distribution
- Signal routing
- Copper zones
- Mounting holes
- Silkscreen labeling
- Design Rule Check (DRC)
- Gerber generation
Parts
66| Qty | Value | Footprint | References |
|---|---|---|---|
| 10 | 61300311121 | 3_pin_male_header:3_pin_male_header | S1, S2, S3, S4, S5, S6, S7, S8, S9, S10 |
| 6 | 1711026 | 2_pin_screw_terminal_5.00mm:PHOENIX_1711026 | BTS 7960 1, BTS 7960 2, BTS 7960 3, BTS 7960 4, Vin-6V, Vout-6V |
| 5 | 1k | Resistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P7.62mm_Horizontal | R2, R3, R4, R5, R7 |
| 4 | 6130XX21121_61300621121 | 3 pin double row male header:61300621121 | BTS_MODULE_1, BTS_MODULE_2, BTS_MODULE_3, BTS_MODULE_4 |
| 2 | 10k | Resistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P7.62mm_Horizontal | R8, R9 |
| 2 | 5.1k | Resistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P7.62mm_Horizontal | R1, R6 |
| 2 | 61300411121 | 4_pin_male_header:WURTH_61300411121 | OLED1, UART1 |
| 1 | 1000uF (for main power rail) | Capacitor_THT:CP_Radial_D10.0mm_P5.00mm | C3 |
| 1 | 100nF ( for power rail) | Capacitor_THT:C_Disc_D5.0mm_W2.5mm_P2.50mm | C4 |
| 1 | 100nF (3.3v buck) | Capacitor_THT:C_Disc_D5.0mm_W2.5mm_P2.50mm | C13 |
| 1 | 100nF (5v buck) | Capacitor_THT:C_Disc_D5.0mm_W2.5mm_P2.50mm | C8 |
| 1 | 100nF (6v buck) | Capacitor_THT:C_Disc_D5.0mm_W2.5mm_P2.50mm | C11 |
| 1 | 100nF (esp) | Capacitor_THT:C_Disc_D5.0mm_W2.5mm_P2.50mm | C6 |
| 1 | 100nF (servo driver) | Capacitor_THT:C_Disc_D5.0mm_W2.5mm_P2.50mm | C2 |
| 1 | 10uF (5v regulator) | Capacitor_THT:CP_Radial_D5.0mm_P2.00mm | C10 |
| 1 | 10uF (Servo driver) | Capacitor_THT:CP_Radial_D5.0mm_P2.00mm | C1 |
| 1 | 10uF (with esp32) | Capacitor_THT:CP_Radial_D5.0mm_P2.00mm | C5 |
| 1 | 1N5819 | Diode_THT:D_DO-41_SOD81_P10.16mm_Horizontal | D4 |
| 1 | 2 pin screw terminal | 2_pin_screw_terminal_5.00mm:PHOENIX_1711026 | J1 |
| 1 | 2 pin screw terminal for button | 2_pin_screw_terminal_5.00mm:PHOENIX_1711026 | J3 |
| 1 | 2200uF (6v buck) | Capacitor_THT:CP_Radial_D12.5mm_P5.00mm | C9 |
| 1 | 22uF (3.3v regulator) | Capacitor_THT:CP_Radial_D5.0mm_P2.00mm | C12 |
| 1 | 330 | Resistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P7.62mm_Horizontal | R10 |
| 1 | 470uF (5v buck) | Capacitor_THT:CP_Radial_D10.0mm_P5.00mm | C7 |
| 1 | AMS1117-3.3 | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | U4 |
| 1 | ESP32-S3-WROOM-1U-N8R8 | ESP32-S3-WROOM-1U-N8R81:XCVR_ESP32-S3-WROOM-1U-N8R8 | U2 |
| 1 | Fuse | fuse_holder:FUSE_4628 | F1 |
| 1 | MPU6050 | 8 pin header male:61300811121 | J4 |
| 1 | PCA9685PW | Package_SO:TSSOP-28_4.4x9.7mm_P0.65mm | U1 |
| 1 | RC522 | 8 pin header male:61300811121 | J5 |
| 1 | S1 | Push_button_4_pin:4_pin_tacticle_push_button | EN_SW1 |
| 1 | S2 | Push_button_4_pin:4_pin_tacticle_push_button | BOOT_SW1 |
| 1 | TYPE-C-31-M-12 | TYPE-C-31-M-12:HRO_TYPE-C-31-M-12 | J2 |
| 1 | buck 3.3v led | LED_THT:LED_D5.0mm | D2 |
| 1 | buck converter 5v | Mini DC buck:Mini360_step-down (3) | U3 |
| 1 | power_led | LED_THT:LED_D5.0mm | D1 |
| 1 | servo_led | LED_THT:LED_D5.0mm | D5 |
| 1 | status_led | LED_THT:LED_D5.0mm | D6 |
The 62 most common of 66 parts.
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Questions
How big is the Rover drive PCB PCB?
It measures 100 × 100 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Rover drive PCB use?
66 parts, built around the ESP32-S3-WROOM-1U-N8R8, PCA9685PW, AMS1117-3.3 and TYPE-C-31-M-12. 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 Rover drive PCB KiCad files?
From the NeuroCircuits/ESP32-S3-Rover-Controller-PCB repository on GitHub, at the commit this page was made from: the board is KiCad/PCB/Rover-drive-PCB.kicad_pcb and its schematic KiCad/Schematic/Rover-drive.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Rover drive PCB design in my own project?
Its repository states no licence, so its author keeps all rights: ask NeuroCircuits before reusing the design.