2 layers70 × 57 mm Nucleo shield pcb, the printed circuit board in 3D

Nucleo shield pcb

An autonomous, reactive, and expressive robotic companion built with an ESP32-CAM and STM32 Nucleo.

Size: 70 × 57 mm
Copper layers: 2
Thickness: 1.6 mm
Parts: 19
Nets: 83
Pads: 142
Tracks, vias: 297, 17
Pours: 9
Routed: Yes
KiCad: KiCad 10.0 (file 20260206)
Created: 7 Jul 2026
Updated: 5 Aug 2026

Overview

Nucleo shield pcb is an open-source printed circuit board by PedroTorrado, from the PedroTorrado/Project_Mimir repository on GitHub. It is a 2-layer board of 70 × 57 mm with 19 parts on 83 nets, routed with 297 tracks and 17 vias.

It is built around the ESP32-CAM, ADXL345-EP and HC-SR04. Its parts include 6 connectors, 4 ICs, 3 switches and 1 diode. It belongs with the ESP32 and RISC-V boards of this library.

Main components

README

README.md

Project Mimir

An autonomous, reactive, and expressive robotic companion built with an ESP32-CAM and STM32 Nucleo.

ᛗ Runic Symbolism

The project logo features the Norse rune Mannaz (ᛗ) representing humanity and the mind, combined with a central camera lens. This symbolizes the camera's core objective: searching for, tracking, and identifying human faces. The name Mimir refers to the wise Norse sentinel head whose well guards Odin's sacrificed eye.

Features

Neural Network Face Tracking: Uses the ESP32-CAM to detect faces and dynamically tracks them using a Proportional-Integral (PI) motor loop.
SD Card Wi-Fi Loader & OLED Selector Menu: Reads custom networks on-the-fly from /wifi.txt on a MicroSD card. Allows interactively scanning and joining networks via the Nucleo OLED screen and button long-press.
Dynamic Telemetry Refresh Rate: Switch between Eco (5s) and Turbo (1s) refresh modes directly from the web dashboard to control cloud costs or increase responsiveness.
Startup Link Verification: Automatic serial handshake (PING/PONG) on boot to visually confirm TX/RX wire integrity.
Emotion Engine: A state machine that gives the robot a personality (Happy, Searching, Dizzy, Angry) based on sensor inputs.
Sensory Suite: Monitors room air quality (SGP30) and avoids collisions with ultrasonic sonar (HC-SR04).
Cloud Telemetry: Streams data to AWS IoT Core over MQTT.

Expressive Personalities

Project Mimir uses its SSD1306 OLED display to express its emotions dynamically based on sensor inputs:

HAPPY (Tracking)

text

                   ▄█▄                     ▄█▄
                 ▄██▀██▄                 ▄██▀██▄
               ▄██▀   ▀██              ▄██▀   ▀██
               █▀       ▀              █▀       ▀

                      █▄                 ▄
                      ▀██▄             ▄██
                        ▀██▄         ▄██▀
                          ▀██▄     ▄██▀
                            ▀██▄ ▄██▀
                              ▀███▀
                                ▀

ANGRY (Obstacle Alert)

text

                        ▄█              █▄
                      ▄█▀               ▀██▄
                    ▄█▀                   ▀██▄
                  ▄█▀                       ▀██▄
                ▄█▀                           ▀██▄
               ██████████              ███████████
               ██████████              ██████████
               ██████████              ██████████
               ██████████              ██████████
               ██████████              ██████████

                                   ██████████

DIZZY (Jerk/Bump)

text

               ▀▄        ▄             ▀▄        ▄
                ▀▄      █               ▀▄      █
                 ▀▄    █                 ▀▄    █
                  ▀▄  █                   ▀▄  █
                   ▀▄█                     ▀▄█
                    █▄                      █▄
                   █ ▀▄                    █ ▀▄
                  █   ▀▄                  █   ▀▄
                 █     ▀▄                █     ▀▄
                █       ▀▄              █       ▀▄
               ▀                       ▀

                              ██   ██
                           ███  ███

Documentation

Please refer to the docs/ folder for comprehensive setup instructions:

System Architecture: Overview of the dual-microcontroller setup and data flow.
Wiring Guide: Detailed pin-to-pin wiring for all hardware components.
AWS IoT Setup Guide: Instructions on provisioning cloud certificates and policies.

Repository Structure

/ESP32_CAM: Arduino IDE project for the ESP32-CAM vision coprocessor.
/Nucleo_F411RE: STM32CubeIDE project for the Nucleo master controller.
/docs: Architecture diagrams and hardware setup guides.

Quick Start

Copy .env.example to .env and fill in your WiFi and AWS credentials.
Copy ESP32_CAM/secrets.h.example to ESP32_CAM/secrets.h and paste your certificates.
Flash the ESP32 using the Arduino IDE.
Build and flash the Nucleo using STM32CubeIDE.
Refer to docs/wiring_guide.md for physical hardware connections.

Category and platform

ESP32 RISC-V

Project files

Show this board on your page

https://pcbkit.io/boards/PedroTorrado/Project_Mimir

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

Source

Repository: PedroTorrado/Project_Mimir
Board file: CAD/ecad/nucleo_shield_pcb.kicad_pcb
Commit: df6585e
Licence: Not stated

Parts

Qty	Value	Footprint	References
3	CK_KMS2xxGP	Button_Switch_SMD:SW_SPST_PTS645Sx43SMTR92	SW1, SW2, SW3
3	MountingHole	MountingHole:MountingHole_3.2mm_M3_ISO14580	H2, H3, H4
1	1N4148	Diode_THT:D_DO-35_SOD27_P7.62mm_Horizontal	D2
1	ADXL345	components:MODULE_SEN-09836	U2
1	CN10	Connector_PinSocket_2.54mm:PinSocket_2x19_P2.54mm_Vertical	J2
1	Conn_01x02_Pin	Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical	J3
1	Conn_01x03_Pin	Connector_PinHeader_1.00mm:PinHeader_1x03_P1.00mm_Vertical	J5
1	Conn_01x04_Socket	Connector_JST:JST_PH_B4B-PH-K_1x04_P2.00mm_Vertical	J4
1	Conn_01x06_Pin	Connector_PinHeader_1.27mm:PinHeader_1x06_P1.27mm_Vertical	J6
1	Conn_02x19_Odd_Even	Connector_PinSocket_2.54mm:PinSocket_2x19_P2.54mm_Vertical	J1
1	DM-OLED096-636	components:MODULE_DM-OLED096-636	U4
1	ESP32-CAM	components:ESP32-CAM	U1
1	HC-SR04	components:XCVR_HC-SR04	U3
1	LOGO	components:mimir	G***

The 18 most common of 19 parts.

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Questions

How big is the Nucleo shield pcb PCB?

It measures 70 × 57 mm and has 2 copper layers, 1.6 mm thick.

What parts does the Nucleo shield pcb use?

19 parts, built around the ESP32-CAM, ADXL345-EP and HC-SR04. 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 Nucleo shield pcb KiCad files?

From the PedroTorrado/Project_Mimir repository on GitHub, at the commit this page was made from: the board is CAD/ecad/nucleo_shield_pcb.kicad_pcb and its schematic CAD/ecad/nucleo_shield_pcb.kicad_sch. PCBKit opens the board in the browser, with nothing to install.

Can I use the Nucleo shield pcb design in my own project?

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