6 layers84 × 50 mm
Solar ribbit
Ribbit-Network/ribbit-network-frog-hardware
The sensor for the world's largest crowdsourced network of open-source, low-cost, GHG Gas Detection Sensors.
171 parts107MIT
4 layers72.8 × 75 mm
Rover circuit
Project-Emerge/rover-circuitThe Rover Circuit is a comprehensive controller board designed for robotics applications, specifically targeted at robot rovers.
- Size
- 72.8 × 75 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 108
- Nets
- 136
- Pads
- 467
- Tracks, vias
- 640, 499
- Pours
- 20
- Routed
- Yes
- KiCad
- KiCad 10.0 (file 20260206)
- Created
- 11 Jul 2025
- Updated
- 31 Oct 2026
Overview
Rover circuit is an open-source printed circuit board by Project-Emerge, from the Project-Emerge/rover-circuit repository on GitHub, published under the MIT licence. It is a 4-layer board of 72.8 × 75 mm with 108 parts on 136 nets, routed with 640 tracks and 499 vias.
It is built around the ESP32-C6-WROOM-1-N8, DWM1000 and AP63200WU, with the AP63205WU, DRV8833PWPR and MMC5983MA among its other parts. Its parts include 35 capacitors, 21 resistors, 11 ICs, 8 connectors and 5 diodes. It belongs with the robots and motor control boards and the ESP32 and RISC-V boards of this library.
Main components
12
ESP32-C6-WROOM-1-N8
SMD,25.5x18mm-40℃~+85℃ -99.2dBm 2.4GHz 20.5dBm 382mA 3V~3.6V 78mA ESP32-C6 On-board PCB Antenna UART、SPI、I2C、I2S、USB SMD,25.5x18mm WiFi Modules ROHSEspressif SystemsWiFi Modules
DWM1000
SMDSMD RF Modules ROHSDecaWaveRF Modules
AP63200WU
TSOT-23-6-40℃~+85℃ 1 22uA 2A 3.8V~32V 500kHz Adjustable Buck Buck Built-in Yes TSOT-23-6 DC-DC Converters ROHSDiodes IncorporatedDC-DC ConvertersAP63205WU
TSOT-23-6-40℃~+85℃@(TA) 1 1.1MHz 22uA 2A 3.8V~32V 5V Buck Built-in Fixed Overcurrent Protection、Light load efficient mode、Cycle-by-cycle current limiting、Hiccup current limiting、EMI optimization (spread spectrum) Step-down type Yes TSOT-23-6 DC-DC Converters ROHSDiodes IncorporatedDC-DC Converters
DRV8833PWPR
TSSOP-16-EP-40℃~+85℃ 1.5A 2 2.7V~10.8V 360mΩ Bipolar Driver Yes TSSOP-16-EP Stepper Motor Driver ROHSTexas InstrumentsStepper Motor Driver
MMC5983MA
LGA-16(3x3)-40℃~+105℃ 18bit 2.8V~3.6V 450uA I2C、SPI ±8Gs ±8Gs LGA-16(3x3) 3D Magnetic Sensors ROHSMEMSIC3D Magnetic Sensors
TPS62162DSGR
WSON-8-EP(2x2)-40℃~+125℃@(TJ) 1 17uA 1A 2.25MHz 3.3V 3V~17V Buck Buck Built-in Fixed Yes WSON-8-EP(2x2) DC-DC Converters ROHSTexas InstrumentsDC-DC Converters
BMI270
LGA-14(2.5x3)-40℃~+85℃ 1.71V~3.6V 16bit 2KB 3.5uA Accelerometer Gyroscope SPI、I2C X,Y,Z X,Y,Z ±16g ±2000dps LGA-14(2.5x3) Accelerometers ROHSBosch SensortecAccelerometers
BQ25887RGE
QFN-24-EP(4x4)-40℃~+85℃ 14uA 2 2.2A 3.9V~6.2V 400mA I2C Support QFN-24-EP(4x4) Battery Management ROHSTexas InstrumentsBattery Management
STM6601CM2DDM6F
TDFN-12(2x3)-40℃~+85℃ 1 1.6V~5.5V 240ms 3.1V 600nA Active Low Manual reset input Open-drain Voltage monitor TDFN-12(2x3) Supervisor and Reset ICs ROHSSTMicroelectronicsSupervisor And Reset ICs
TPD2EUSB30ADRTR
SOT(9x3)0.45pF 100nA 14V 3.3V 4.5V ESD IEC 61000-4-2、IEC 61000-4-5、IEC 61000-4-4 Unidirectional SOT(9x3) ESD and Surge Protection (TVS/ESD) ROHSTECH PUBLICESD And Surge Protection (TVS/ESD)
150060BS75000
0603-40℃~+85℃ 1.1mm x 0.8mm square LED 1000V 105mW 140° 145mcd 20mA 25nm 3.2V 465nm 470nm Blue Discrete Diode InGaN Water Clear 0603 LED Indication - Discrete ROHSWürth ElektronikLight Emitting Diodes (LED)
README
README.mdDropbot Circuit Board
Scope of the Board
The Rover Circuit is a comprehensive controller board designed for robotics applications, specifically targeted at robot rovers. A key goal of this project is to make swarm robotics accessible to students, educators, and researchers, providing an affordable and easy-to-use platform for experimenting with multi-agent systems and decentralized control.
It integrates dual-motor driving capabilities, 2-cell Li-ion battery management with USB-C charging, and provides multiple power domains (3.3V, 5V, 6V) for logic, sensors, and external compute modules like a Raspberry Pi. The board includes I2C and GPIO interfaces to facilitate communication with various sensors and control systems, making it a compact, all-in-one hardware platform for mobile robot development.
Main Components & Features
- Espressif ESP32-C6 (Microcontroller): The core processing unit of the board, offering Wi-Fi 6, Bluetooth LE, and IEEE 802.15.4 (Zigbee/Thread) connectivity. Its robust wireless capabilities are ideal for inter-robot communication in a swarm network.
- Decawave DWM1000 (UWB Module): An Ultra-Wideband transceiver module designed for precise indoor localization, spatial awareness, and ranging between rovers. Crucial for coordinated swarm movements and mapping.
- 9-DOF Inertial Measurement Unit (IMU):
- Bosch BMI270: A 6-axis accelerometer and gyroscope for tracking movement and rotation.
- MEMSIC MMC5983MA: A high-precision 3-axis magnetometer acting as a digital compass for absolute heading orientation.
- TI BQ25887 (Battery Management): A 2-cell Li-ion boost-mode battery charger with integrated cell balancing and USB-C input support. It handles safe charging and power management for the entire rover.
- TI DRV8833 (Motor Driver): A dual H-bridge motor driver capable of delivering 1.5A RMS per bridge. It is used to independently drive two DC motors (such as N20 motors) for locomotion.
- STM6601 (Power Controller): A smart push-button on/off controller for robust hardware power management and user interaction.
- Power Distribution System: Dedicated voltage regulators generating 3.3V for internal logic and sensors, 6V for the motors, and a clean 5V output.
- SBC Expansion & User Interface: An expansion header capable of powering and interfacing with a Single Board Computer (e.g., Raspberry Pi) over 5V, along with a dedicated I2C connector for attaching an OLED display module.
These components work together to provide a complete, robust sensing, processing, and locomotion backend, allowing developers to focus on high-level swarm robotics software and decentralized algorithms without worrying about hardware integration.
Sponsors
License
MIT License - see LICENSE file for details.
Parts
108| Qty | Value | Footprint | References |
|---|---|---|---|
| 6 | 22uF | Capacitor_SMD:C_0805_2012Metric | C17, C20, C21, C23, C24, C28 |
| 5 | 1uF | Capacitor_SMD:C_0603_1608Metric | C2, C16, C31, C32, C35 |
| 4 | 100nF | Capacitor_SMD:C_0603_1608Metric | C13, C19, C29, C30 |
| 4 | 10k | Resistor_SMD:R_0603_1608Metric | R3, R12, R18, R21 |
| 4 | 10uF | Capacitor_SMD:C_0805_2012Metric | C11, C18, C22, C25 |
| 4 | MountingHole | MountingHole:MountingHole_2.2mm_M2 | H1, H2, H3, H4 |
| 3 | 0.1uF | Capacitor_SMD:C_0805_2012Metric | C1, C27, C33 |
| 3 | Fiducial | Fiducial:Fiducial_0.5mm_Mask1mm | FID4, FID5, FID6 |
| 2 | 10uF | Capacitor_SMD:C_0603_1608Metric | C14, C15 |
| 2 | 2.2k | Resistor_SMD:R_0603_1608Metric | R1, R8 |
| 2 | 2.2uF | Capacitor_SMD:C_0603_1608Metric | C8, C26 |
| 2 | 200m | Resistor_SMD:R_1206_3216Metric | R9, R10 |
| 2 | 22uF | Capacitor_SMD:C_1206_3216Metric | C3, C12 |
| 2 | 4.7k | Resistor_SMD:R_0603_1608Metric | R16, R17 |
| 2 | 470 | Resistor_SMD:R_0603_1608Metric | R19, R20 |
| 2 | 5.1K | Resistor_SMD:R_0402_1005Metric | R13, R14 |
| 2 | BLUE | LED_SMD:LED_0603_1608Metric | D5, D6 |
| 2 | Raspberry | MountingHole:MountingHole_2.5mm | H7, H8 |
| 1 | 1.1K | Resistor_SMD:R_0603_1608Metric | R2 |
| 1 | 10 | Resistor_SMD:R_2512_6332Metric | R5 |
| 1 | 100K | Resistor_SMD:R_0603_1608Metric | R15 |
| 1 | 100uF | Capacitor_SMD:CP_Elec_6.3x5.4 | C10 |
| 1 | 10nF | Capacitor_SMD:C_0603_1608Metric | C9 |
| 1 | 10uF | Capacitor_SMD:C_1206_3216Metric | C5 |
| 1 | 10uH | Inductor_SMD:L_Sunlord_MWSA0503S | L4 |
| 1 | 1uH | Inductor_SMD:L_Sunlord_MWSA0518S | L1 |
| 1 | 2.2uH | Inductor_SMD:L_Coilcraft_LPS3010 | L2 |
| 1 | 22uF | Capacitor_SMD:C_0603_1608Metric | C7 |
| 1 | 30.1k | Resistor_SMD:R_0603_1608Metric | R7 |
| 1 | 300 | Resistor_SMD:R_0603_1608Metric | R4 |
| 1 | 3V3 TP | TestPoint:TestPoint_Pad_D1.0mm | TP1 |
| 1 | 4.7uF | Capacitor_SMD:C_0603_1608Metric | C6 |
| 1 | 4.7uH | Inductor_SMD:L_Chilisin_BWVS00505030 | L3 |
| 1 | 470nF | Capacitor_SMD:C_0603_1608Metric | C34 |
| 1 | 47nF | Capacitor_SMD:C_0603_1608Metric | C4 |
| 1 | 5.23k | Resistor_SMD:R_0603_1608Metric | R6 |
| 1 | 5V TP | TestPoint:TestPoint_Pad_D1.0mm | TP2 |
| 1 | 64.9k | Resistor_SMD:R_0603_1608Metric | R11 |
| 1 | 6V TP | TestPoint:TestPoint_Pad_D1.0mm | TP3 |
| 1 | AP63200WU | Package_TO_SOT_SMD:TSOT-23-6 | U5 |
| 1 | AP63205WU | Package_TO_SOT_SMD:TSOT-23-6 | U7 |
| 1 | BMI270 | Package_LGA:Bosch_LGA-14_3x2.5mm_P0.5mm | U11 |
| 1 | BQ25887RGE | Package_DFN_QFN:Texas_RGE0024H_VQFN-24-1EP_4x4mm_P0.5mm_EP2.7x2.7mm | U2 |
| 1 | Batt | TestPoint:TestPoint_Pad_D1.0mm | TP6 |
| 1 | Battery Connector | Connector_JST:JST_PH_B4B-PH-SM4-TB_1x04-1MP_P2.00mm_Vertical | J9 |
| 1 | DRV8833PWP | Package_SO:HTSSOP-16-1EP_4.4x5mm_P0.65mm_EP3.4x5mm_Mask2.46x2.31mm_ThermalVias | U3 |
| 1 | DWM1000 | RF_Module:DWM1000 | DWM1 |
| 1 | ESP32-C6-WROOM-1-N8 | lib_fp:XCVR_ESP32-C6-WROOM-1-N8 | U6 |
| 1 | Expansion Header | Connector_PinHeader_2.54mm:PinHeader_2x07_P2.54mm_Vertical | J6 |
| 1 | GRN | LED_SMD:LED_0603_1608Metric | D2 |
| 1 | GZ3216D101TF | Inductor_SMD:L_1206_3216Metric | FB1 |
| 1 | INT1 | TestPoint:TestPoint_Pad_D1.0mm | TP10 |
| 1 | LED | LED_SMD:LED_0603_1608Metric | D3 |
| 1 | Left Motor | Connector_JST:JST_PH_S2B-PH-SM4-TB_1x02-1MP_P2.00mm_Horizontal | J8 |
| 1 | MCP1799T-5002H/TT | Package_TO_SOT_SMD:SOT-23 | U12 |
| 1 | MMC5983MA | Package_LGA:LGA-16_3x3mm_P0.5mm | U1 |
| 1 | MMC5983_INT | TestPoint:TestPoint_Pad_D1.0mm | TP9 |
| 1 | OLED Display | Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical | J3 |
| 1 | Proximity | Connector_JST:JST_PH_S4B-PH-SM4-TB_1x04-1MP_P2.00mm_Horizontal | J4 |
| 1 | RED | LED_SMD:LED_0603_1608Metric | D1 |
| 1 | Raspberry Pi Hat Connector | Connector_PinSocket_2.54mm:PinSocket_2x20_P2.54mm_Vertical_SMD | J5 |
| 1 | Right Motor | Connector_JST:JST_PH_S2B-PH-SM4-TB_1x02-1MP_P2.00mm_Horizontal | J7 |
| 1 | SCL | TestPoint:TestPoint_Pad_D1.0mm | TP5 |
| 1 | SDA | TestPoint:TestPoint_Pad_D1.0mm | TP4 |
| 1 | STM6601CM2DDM6F | Package_DFN_QFN:TDFN-12_2x3mm_P0.5mm | U8 |
| 1 | SW_EN | Button_Switch_SMD:SW_SPST_B3U-1000P | SW1 |
| 1 | SW_IO0 | Button_Switch_SMD:SW_SPST_B3U-1000P | SW2 |
| 1 | TPD2EUSB30 | Package_TO_SOT_SMD:Texas_DRT-3 | U4 |
| 1 | TPS62162DSG | Package_SON:WSON-8-1EP_2x2mm_P0.5mm_EP0.9x1.6mm_ThermalVias | U9 |
| 1 | USB C Connector | Connector_USB:USB_C_Receptacle_G-Switch_GT-USB-7010ASV | J2 |
| 1 | ~{FAULT} | TestPoint:TestPoint_Pad_D1.0mm | TP7 |
| 1 | ~{PB} | Button_Switch_SMD:SW_SPST_B3U-1000P | SW4 |
| 1 | ~{SR} | Button_Switch_SMD:SW_SPST_B3U-1000P | SW3 |
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Questions
How big is the Rover circuit PCB?
It measures 72.8 × 75 mm and has 4 copper layers, 1.6 mm thick.
What parts does the Rover circuit use?
108 parts, built around the ESP32-C6-WROOM-1-N8, DWM1000, AP63200WU and AP63205WU. 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 circuit KiCad files?
From the Project-Emerge/rover-circuit repository on GitHub, at the commit this page was made from: the board is rover-circuit.kicad_pcb and its schematic display.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Rover circuit 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).