4 layers29 × 74 mm
Controller
StuckAtPrototype/Racer
These are structured into their own files. I could have used submodules, but decided against it.
66 parts3.8kApache-2.0
4 layers36 × 50.2 mm
These are structured into their own files. I could have used submodules, but decided against it.
- Size
- 36 × 50.2 mm
- Copper layers
- 4
- Thickness
- 1.66 mm
- Parts
- 83
- Nets
- 71
- Pads
- 308
- Tracks, vias
- 546, 107
- Pours
- 11
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 15 Oct 2024
- Updated
- 1 Feb 2026
Overview
Racer is an open-source printed circuit board by StuckAtPrototype, from the StuckAtPrototype/Racer repository on GitHub, published under the Apache-2.0 licence. It is a 4-layer board of 36 × 50.2 mm with 83 parts on 71 nets, routed with 546 tracks and 107 vias.
It is built around the AP2205-W5, ESP32-H2-MINI-1U and MCP73833, with the IN-PI15TAT5R5G5B, BSS138 and JS102011SAQN among its other parts. Its parts include 25 capacitors, 20 resistors, 12 connectors, 8 ICs and 8 diodes. It belongs with the ESP32 and RISC-V boards of this library.
Main components
6
AP2205-W5
SOT-25-40℃~+125℃@(Tj) 1 200mA 24V 30uVrms 500mV@(150mA) 500uA 60dB@(1kHz) Adjustable Over Current Protection、Thermal shutdown、Enable control、Reverse-polarity current protection Positive SOT-25 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSDiodes IncorporatedVoltage Regulators - Linear, Low Drop Out (LDO) RegulatorsESP32-H2-MINI-1U
SMD,12.5X13.2mmSMD,12.5x13.2mm New Arrivals ROHSEspressif SystemsUncategorised
MCP73833
UncategorisedMicrochip Technology
IN-PI15TAT5R5G5B
SMD-4_1.5X1.5SMD-4_1.5X1.5 RGB LEDs(Built-in IC) ROHSInoluxUncategorised
BSS138
SOT-23-55℃~+150℃ 1 N-channel 1.1Ω@10V、1.2Ω@4.5V 1.2V 1.7nC@10V 17.5pF 340mA 350mW 50V 6.5pF N-Channel SOT-23 MOSFETs ROHShongjiachengMOSFETs
JS102011SAQN
SMD-40℃~+85℃ 3.5mm 300mA 5,000 cycles 6V 9mm Black Rectangular Columnar SMD(SMT) Tab SPDT Surface Mount, Right Angle SMD Slide Switches ROHSC&KSlide Switches
README
README.mdMicro Racer Car - StuckAtPrototype
thank you for the overwhelmingly positve support!! such an inspiration to keep making fun open source content!
New Youtube video about improvements
Lots of new improvements and I am now selling a kit for these! Check out the video here:
https://www.youtube.com/watch?v=FulhEs5R5WU
Original Youtube Video
A bit of a back-story of how this project came to be.
Sub if you like what you see.
Some pictures of the project
Hardware Remote for this car
https://github.com/StuckAtPrototype/Thumbtroller
Project Structure
The project consists of
- Firmware
- Hardware
- Mechanical
- Scripts
These are structured into their own files. I could have used submodules, but decided against it.
1. Firmware
Code for the little car. This lives on the ESP32
Requirements
- ESP32 IDF version 5.3.1
- USB to Serial dongle
- Target set to ESP32-H2
2. Hardware
Schematic
PDF schematic included for your viewing pleasure.
PCBs
All the gerber files you'd need to send to a fab house.
Kicad
All the files you'd need to expand and work on this further. If you'd like.
3. Mechanical
Enclosure
All the step files you need to make one of these. Extrusion printer works well for this part.
Wheels
A bit of caution on this one.. you'll need an SLA printer.
4. Scripts
Did anyone say neural networks?
This folder has all the python code you'd need to train up your own neural network for the car. It also consists scripts that let you drive it using a keyboard -- just in case you dont want to make a physical controller.
Requirements
- Python 3
- You'll need to install a bunch of pip modules
Training the neural network
Training the neural network is as simple as running the training script with the data in the color_data.txt file. For data format see the sample data in the file. You need to stick to the formatting.
To train run python trainer.py
Keyboard controller
To run the script python controller.py
Use w s a d for control. Modify the script for different speeds, etc
Protocol for motor control
60,1,60,1,5 -- translates to:
motor side A: speed 60, direction forward
motor side B: speed 60, direction forward
500 miliseconds run time
See firmware file motor.c if you need more details
What the project could use
- Cleanup, but thats true for almost anything out there
- Some fun code that makes the little car drive using the color sensor -- think very fancy line follower
- LLM integration -- ChatGPT driving a physical little robot? anyone? :)
If you take it further
Let me know if you ever make one of these, I'd love to see it. Seriously, that'd be exciting and inspiring to keep making my projects open source!
License
Apache 2.0 -- i.e. use as you'd like
http://www.apache.org/licenses/LICENSE-2.0
Special Thanks
Thanks to Michael Angerer for his open sourced esp32_ble_ota project. I used it to get BLE running in this project. His blog post and github repo are a great resource. Check it out. https://github.com/michael-angerer/esp32_ble_ota
Parts
83| Qty | Value | Footprint | References |
|---|---|---|---|
| 12 | 0.1uF | Capacitor_SMD:C_0603_1608Metric | C3, C4, C7, C8, C11, C12, C13, C14, C15, C23, C24, C25 |
| 10 | 10uF | Capacitor_SMD:C_0603_1608Metric | C1, C2, C5, C6, C16, C18, C19, C20, C21, C22 |
| 9 | 10K | Resistor_SMD:R_0603_1608Metric | R1, R4, R6, R9, R11, R26, R27, R28, R29 |
| 5 | IN-PI15TAT5R5G5B | custom_IC:IN-PI15_INL | LED1, LED2, LED3, LED4, LED5 |
| 4 | A3908 | kicad_reformed_custom_IC:A3908 | U1, U2, U3, U4 |
| 4 | motor0 | TestPoint:TestPoint_Pad_2.0x2.0mm | J1, J3, J5, J7 |
| 4 | motor1 | TestPoint:TestPoint_Pad_2.0x2.0mm | J2, J4, J6, J8 |
| 3 | 5K1 | Resistor_SMD:R_0603_1608Metric | R17, R18, R22 |
| 2 | 330 | Resistor_SMD:R_0603_1608Metric | R20, R21 |
| 2 | 47uF | Capacitor_SMD:C_0603_1608Metric | C9, C17 |
| 2 | Conn_02x03_SMT | Connector_PinHeader_1.27mm:PinHeader_2x03_P1.27mm_Vertical_SMD | J9, J10 |
| 1 | 1.43K | Resistor_SMD:R_0603_1608Metric | R23 |
| 1 | 1M | Resistor_SMD:R_0603_1608Metric | R16 |
| 1 | 1uF | Capacitor_SMD:C_0603_1608Metric | C10 |
| 1 | 1uH | custom_IC:RES_CIGT252010 | L1 |
| 1 | 470 | Resistor_SMD:R_0603_1608Metric | R5 |
| 1 | 75K | Resistor_SMD:R_0603_1608Metric | R24 |
| 1 | 806 | Resistor_SMD:R_0603_1608Metric | R2 |
| 1 | 91 | Resistor_SMD:R_0603_1608Metric | R3 |
| 1 | AP2205 | kicad_reformed_custom_IC:AP2204 | U6 |
| 1 | BSS138 | Package_TO_SOT_SMD:SOT-23 | Q1 |
| 1 | ESP32-H2-MINI-1 | kicad_reformed_custom_IC:MODULE_ESP32-H2-MINI-1-H2 | U5 |
| 1 | JS102011SAQN | kicad_reformed_custom_IC:SW_JS102011SAQN | S1 |
| 1 | JST 2.0 BATT | Connector_JST:JST_PH_B2B-PH-K_1x02_P2.00mm_Vertical | J12 |
| 1 | LED_GREEN | Capacitor_SMD:C_0603_1608Metric | D8 |
| 1 | LED_RED | Capacitor_SMD:C_0603_1608Metric | D9 |
| 1 | LOGO | kicad_reformed_custom_IC:LOGO_6mm_microDMG | G*** |
| 1 | MCP73833 | kicad_reformed_custom_IC:SON50P300X300X100-11N | U7 |
| 1 | SWITCH_0SMTRLFS | kicad_reformed_custom_IC:SWITCH_0SMTRLFS | S2 |
| 1 | TH 10K | Resistor_SMD:R_0603_1608Metric | TH1 |
| 1 | TPD1E10B06 | Diode_SMD:D_SOD-523 | D5 |
| 1 | TPS631000DRLR | custom_IC:TPS631000DRLR_TEX | U9 |
| 1 | TestPoint | TestPoint:TestPoint_Pad_1.5x1.5mm | TP2 |
| 1 | USB_C_Plug_USB2.0 | kicad_reformed_custom_IC:GCT_USB4105-GF-A | P1 |
The 80 most common of 83 parts.
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Questions
How big is the Racer PCB?
It measures 36 × 50.2 mm and has 4 copper layers, 1.66 mm thick.
What parts does the Racer use?
83 parts, built around the AP2205-W5, ESP32-H2-MINI-1U, MCP73833 and IN-PI15TAT5R5G5B. 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 Racer KiCad files?
From the StuckAtPrototype/Racer repository on GitHub, at the commit this page was made from: the board is hardware/racer/racer.kicad_pcb and its schematic hardware/racer-sensors/sensors.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Racer design in my own project?
Its repository publishes it under the Apache-2.0 licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).