2 layers102 × 90.8 mm
Kicad project
OPRobots/DragonBot2
Siguelíneas de tipo Robotracer para competir en la All Japan Robotracer 2027
252 parts5
2 layers86.5 × 91.9 mm
ZoroBot3
OPRobots/ZoroBot343Tercera versión de nuestro primer robot. Un robot micromouse de alto rendimiento con STM32F4, encoders magneticos de alta resolución, succión y muchos leds molones.
- Size
- 86.5 × 91.9 mm
- Copper layers
- 2
- Thickness
- 0.8 mm
- Parts
- 205
- Nets
- 171
- Pads
- 879
- Tracks, vias
- 2,621, 662
- Pours
- 771
- Routed
- Yes
- KiCad
- KiCad 10.0 (file 20260206)
- Created
- 31 Dec 2019
- Updated
- 29 Oct 2026
Overview
ZoroBot3 is an open-source printed circuit board by OPRobots, from the OPRobots/ZoroBot3 repository on GitHub, published under the GPL-3.0 licence. It is a 2-layer board of 86.5 × 91.9 mm with 205 parts on 171 nets, routed with 2,621 tracks and 662 vias.
It is built around the STM32F405RGT6, AO3400A and AON7423. Its parts include 58 capacitors, 35 resistors, 14 diodes, 5 transistors and 1 inductor. It belongs with the robots and motor control boards and the STM32 boards of this library.
Main components
3
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)
AO3400A
SOT-23-55℃~+150℃ 1 N-channel 1.45V 1.4W 30V 48mΩ@2.5V 5.7A 50pF 630pF 75pF 7nC@10V N-Channel SOT-23 MOSFETs ROHSAlpha & Omega SemiconductorMOSFETs
AON7423
DFN-8(3x3)-55℃~+150℃ 1 P-Channel 100nC@4.5V 200mV 20V 4.9mΩ@2.5V 5.626nF 50A 716pF 83W 928pF P-Channel DFN-8(3x3) MOSFETs ROHSAlpha & Omega SemiconductorMOSFETs
README
README.mdZoroBot3
Tercera versión de nuestro primer robot. Un robot micromouse de alto rendimiento con STM32F4, encoders magneticos de alta resolución, succión y muchos leds molones.
🏆 Palmarés
| 🥇 | 🥈 | 🥉 |
|---|---|---|
| 8 | 0 | 0 |
Resultados por Evento
| Evento | Categoría | Posición | Año |
|---|---|---|---|
 Micromouse Portuguese Contest | Micromouse Classic | 🥇 | 2026 |
 RoboChallenge | Maze | 🥇 | 2025 |
 OSHWDem | Micromouse Classic | 🥇 | 2025 |
| Micromouse Portugese Contest | Micromouse Classic | 🥇 | 2025 |
| Micromouse Portugese Contest | Time Trial | 🥇 | 2025 |
| RoboChallenge | Maze | 🥇 | 2024 |
| OSHWDem | Micromouse Classic | 🥇 | 2024 |
| OSHWDem | Micromouse Wall-Follower | 🥇 | 2023 |
⚙️ Hardware
- Microcontrolador: STM32F405RGT6 @168MHz
- Driver de motores: MP6551 @20kHz
- Giroscopio: LSM6DSRTR 4000dps
- Encoders: AS5145B-HSST
- Mosfets: AO3400 (A09T) Tanto para conmutar los emisores de los sensores como para la succión
- Regulador: CN3903 + LDO ME611C33M5G
- Receptor IR 38kHz: TSSP77038TR
- Bateria: LiPo 2S 260mAh 35-70C Turnigy nano-tech
- Sensores:
- 4 Emisores IR SFH-4550
- 4 Receptores IR ST-1KL3A
- Tracción:
- 2x Motores Coreless 8520 7.4v genéricos (AliExpress)
- Goma de ruedas Kyosho K.MZW39-30
- Chasis de PCB con soportes de motores y ventilador en PLA
- Piñones de motores 8T 0.5M
- Engranajes de las ruedas 40T 0.5M
- Engranajes de los encoders 22T 0.5M impresos en resina
- 4x Rodamientos MR63ZZ (Ruedas)
- 2x Rodamientos MR52ZZ (Encoders)
- 2x Imán radial 6x2.5mm
💻 Software
- Programado en VSCode y PlatformIO con LibOpenCM3.
- Todos los valores analógicos se leen mediante DMA y son procesados cada 1ms.
- Los sensores se leen mediante una máquina de estados a 16kHz, enciendiendo y apagando los emisores para filtrar la luz ambiente.
- El valor de los encoders se lee en cuadratura por hardware mediante dos timers.
- El MPU se lee mediante SPI.
- El bucle principal de control, del que constan los PID de velocidad lineal, velocidad angular, control frontal y control lateral se ejecuta cada 1ms.
- Se realiza un reseteo de posición por périda de pared lateral para mejorar la navegación.
- Las curvas se realizan mediante perfiles de giro con aceleración senoidal para mayor suavidad.
- Dispone de programas para seguimiento de pared derecha/izquierda, exploración y resolución mediante floodfill basado en pesos (más información en TimeBased FloodFill Simulator) y hardcodeo de movimientos.
🎥 Vídeos
Micromouse Portugese Contest 2026 - 🥇
OSHWDem 2025 - 🥇
Micromouse Portugese Contest 2025 - 🥇
RoboChallenge 2024 - 🥇
OSHWDem 2024 - 🥇
Parts
205| Qty | Value | Footprint | References |
|---|---|---|---|
| 24 | 0.1uF | Capacitor_SMD:C_0402_1005Metric_Pad0.74x0.62mm_HandSolder | C2, C4, C7, C10, C11, C17, C20, C21, C24, C33, C35, C37, C38, C39, C40, CR1 +8 |
| 20 | 10uF | Capacitor_SMD:C_0402_1005Metric_Pad0.74x0.62mm_HandSolder | C3, C6, C9, C23, C30, C41, C42, C44, C45, C46, C47, C48, C49, C50, C51, C52 +4 |
| 14 | 330 | Resistor_SMD:R_0402_1005Metric_Pad0.72x0.64mm_HandSolder | R1, R2, R3, R4, R5, R6, R7, R8, R9, R10, R14, R15, R16, R22 |
| 10 | LED | LED_SMD:LED_0805_2012Metric | D1, D2, D3, D4, D5, D6, D7, D8, D9, D10 |
| 8 | 47K | Resistor_SMD:R_0402_1005Metric_Pad0.72x0.64mm_HandSolder | R11, R17, R24, R25, RS5, RS6, RS11, RS12 |
| 5 | 1uF | Capacitor_SMD:C_0402_1005Metric_Pad0.74x0.62mm_HandSolder | C18, C22, C32, C34, CR3 |
| 5 | AO3400A | Package_TO_SOT_SMD:SOT-23 | MOSFET-N-SUC1, MOSFET-N1, MOSFET-N2, MOSFET-N3, MOSFET-N4 |
| 4 | 33 | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | RS1, RS2, RS7, RS8 |
| 4 | 47uF | Capacitor_SMD:C_0805_2012Metric | C5, C8, C31, C43 |
| 4 | 5k | Resistor_SMD:R_0402_1005Metric_Pad0.72x0.64mm_HandSolder | RCM1, RCM2, RCM3, RCM4 |
| 4 | Conn_01x04_Socket | custom_footprints:ZoroBot3_Sensors | CONN_SEN_FRONT_D1, CONN_SEN_FRONT_I1, CONN_SEN_PA_D1, CONN_SEN_PA_I1 |
| 4 | Conn_01x04_Socket | custom_footprints:ZoroBot3_Main_sensors | SEN_FRONT_D1, SEN_FRONT_I1, SEN_PARED_D1, SEN_PARED_I1 |
| 4 | SFH-4550 | LED_THT:LED_D5.0mm_Clear | LED_IR1, LED_IR2, LED_IR3, LED_IR4 |
| 4 | ST-1KL3A | LED_THT:LED_D5.0mm_IRBlack | Q3, Q4, Q5, Q6 |
| 4 | ~ | custom_footprints:Generic_SmallButton_6x3 | BTN_RST1, BTN1, BTN2, BTN3 |
| 3 | 10K | Resistor_SMD:R_0402_1005Metric_Pad0.72x0.64mm_HandSolder | R27, RRAM1, RRAM2 |
| 3 | 1K | Resistor_SMD:R_0402_1005Metric_Pad0.72x0.64mm_HandSolder | R20, R23, R28 |
| 3 | Conn_01x02_Socket | custom_footprints:ZoroBot3_Power_MPU | POWER_MPU1, POWER_MPU2, POWER_MPU3 |
| 3 | Conn_01x02_Socket | custom_footprints:Connector_motor_1.25_Hirose_DF13-02P-1.25DSA_1x02_P1.25mm_Vertical | Mot_D1, Mot_I1, Mot_S1 |
| 2 | 0.1uF | Capacitor_SMD:C_0603_1608Metric | CR4, CR7 |
| 2 | 1.5K | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | RS9, RS10 |
| 2 | 1k | Resistor_SMD:R_0402_1005Metric_Pad0.72x0.64mm_HandSolder | RF1, RF2 |
| 2 | 2.2uF | Capacitor_SMD:C_0402_1005Metric_Pad0.74x0.62mm_HandSolder | C12, C19 |
| 2 | 20pF | Capacitor_SMD:C_0402_1005Metric_Pad0.74x0.62mm_HandSolder | C13, C15 |
| 2 | 220nF | Capacitor_SMD:C_0402_1005Metric_Pad0.74x0.62mm_HandSolder | CF1, CF2 |
| 2 | 23AA04M-I/ST | Package_SO:TSSOP-8_4.4x3mm_P0.65mm | SRAM1, SRAM2 |
| 2 | 3.3K | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | RS3, RS4 |
| 2 | AS5145B-HSST | custom_footprints:Encoder_AS5145B | AS5145B_D1, AS5145B_I1 |
| 2 | Conn_01x04_Socket | custom_footprints:ZoroBot3_Data_MPU | DATA_MPU1, DATA_MPU2 |
| 2 | Conn_01x05_Pin | custom_footprints:ZoroBot3_PCBmodule_encoder | ENC_D_CONN1, ENC_I_CONN1 |
| 2 | Conn_01x05_Socket | custom_footprints:ZoroBot3_PCBmain_Encoder | ENC_D1, ENC_I1 |
| 2 | D | Diode_SMD:D_0805_2012Metric_Pad1.15x1.40mm_HandSolder | D13, DS1 |
| 2 | LED | LED_SMD:LED_0402_1005Metric_Pad0.77x0.64mm_HandSolder | D11, D12 |
| 2 | ~ | Package_LGA:Bosch_LGA-14_3x2.5mm_P0.5mm | LSM6DSR1, LSM6DSR2 |
| 2 | ~ | custom_footprints:PH-MP6551GQB-P | PH1, PH2 |
| 1 | 100K | Resistor_SMD:R_0402_1005Metric_Pad0.72x0.64mm_HandSolder | R18 |
| 1 | 100k | Resistor_SMD:R_0402_1005Metric_Pad0.72x0.64mm_HandSolder | R30 |
| 1 | 27K | Resistor_SMD:R_0402_1005Metric_Pad0.72x0.64mm_HandSolder | R26 |
| 1 | 27k | Resistor_SMD:R_0402_1005Metric_Pad0.72x0.64mm_HandSolder | R19 |
| 1 | 4.7uF | Capacitor_SMD:C_0402_1005Metric_Pad0.74x0.62mm_HandSolder | C1 |
| 1 | 45K | Resistor_SMD:R_0402_1005Metric_Pad0.72x0.64mm_HandSolder | R29 |
| 1 | 47k | Resistor_SMD:R_0402_1005Metric_Pad0.72x0.64mm_HandSolder | R21 |
| 1 | 47uF | Capacitor_SMD:C_1206_3216Metric | CR6 |
| 1 | 60k | Resistor_SMD:R_0402_1005Metric_Pad0.72x0.64mm_HandSolder | R31 |
| 1 | AON7423 | Package_DFN_QFN:DFN-8-1EP_3x3mm_P0.65mm_EP1.55x2.4mm | Q2 |
| 1 | Conn_01x03_Pin | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | AUX_CONN1 |
| 1 | Conn_01x03_Pin | Connector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical | BATT1 |
| 1 | Conn_01x05_Socket | custom_footprints:ZoroBot3_Data_MPU | DATA_MPU+SRAM1 |
| 1 | Crystal_GND24 | Crystal:Crystal_SMD_TXC_7M-4Pin_3.2x2.5mm | Y1 |
| 1 | G*** | kibuzzard-677A7D7B | kibuzzard-677A7D7B |
| 1 | G*** | kibuzzard-6A916D2B | kibuzzard-6A916D2B |
| 1 | G*** | kibuzzard-677A7C9A | kibuzzard-677A7C9A |
| 1 | G*** | kibuzzard-6A916D37 | kibuzzard-6A916D37 |
| 1 | G*** | kibuzzard-677A7C8F | kibuzzard-677A7C8F |
| 1 | G*** | kibuzzard-677A7CA3 | kibuzzard-677A7CA3 |
| 1 | G*** | kibuzzard-677A7CAF | kibuzzard-677A7CAF |
| 1 | G*** | kibuzzard-6A916D40 | kibuzzard-6A916D40 |
| 1 | G*** | kibuzzard-6779A9B1 | kibuzzard-6779A9B1 |
| 1 | G*** | kibuzzard-6A945D46 | kibuzzard-6A945D46 |
| 1 | G*** | kibuzzard-677A7E2E | kibuzzard-677A7E2E |
| 1 | G*** | kibuzzard-6A94423E | kibuzzard-6A94423E |
| 1 | G*** | kibuzzard-677A7E3B | kibuzzard-677A7E3B |
| 1 | G*** | kibuzzard-677A7D86 | kibuzzard-677A7D86 |
| 1 | G*** | kibuzzard-677A7D71 | kibuzzard-677A7D71 |
| 1 | G*** | kibuzzard-677A7CBB | kibuzzard-677A7CBB |
| 1 | L | Inductor_SMD:L_Wuerth_HCM-7050 | L1 |
| 1 | LED_RGB | LED_SMD:LED_RGB_5050-6 | RGB1 |
| 1 | LOGO | libs sueltas:ZoroBot3_curvado1 | G*** |
| 1 | LOGO | libs sueltas:A ver si no arde | G*** |
| 1 | LOGO | libs sueltas:OPR_24X10_silueta | G*** |
| 1 | LOGO | libs sueltas:QR_ZoroBot3 | G*** |
| 1 | STM32F405RGT6 | Package_QFP:LQFP-64_10x10mm_P0.5mm | DEIXAME_QUE_PENSE_1 |
| 1 | SW_DPDT_x2 | custom_footprints:Generic_Swich_ONOFF | POWER_SWITCH1 |
| 1 | SolderJumper_2_Open | Jumper:SolderJumper-2_P1.3mm_Open_RoundedPad1.0x1.5mm | JP2 |
| 1 | ~ | Package_SO:Texas_HTSOP-8-1EP_3.9x4.9mm_P1.27mm_EP2.95x4.9mm_Mask2.4x3.1mm_ThermalVias | DC-DC1 |
| 1 | ~ | custom_footprints:IR_SENSOR_SMD_TSSP77038ETR | IR_RECIVER1 |
| 1 | ~ | custom_footprints:USB-C ST-Link USART | USB1 |
| 1 | ~ | Package_TO_SOT_SMD:SOT-23-5_HandSoldering | MIC1 |
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Questions
How big is the ZoroBot3 PCB?
It measures 86.5 × 91.9 mm and has 2 copper layers, 0.8 mm thick.
What parts does the ZoroBot3 use?
205 parts, built around the STM32F405RGT6, AO3400A and AON7423. 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 ZoroBot3 KiCad files?
From the OPRobots/ZoroBot3 repository on GitHub, at the commit this page was made from: the board is pcb_files/kicad_project/ZoroBot3.kicad_pcb and its schematic pcb_files/kicad_project/Encoders.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the ZoroBot3 design in my own project?
Its repository publishes it under the GPL-3.0 licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).