4 layers70 × 99.9 mm
Micromouse
UBIEEE/FrankenMouse
FrankenMouse is a MicroMouse robot that was designed, built, and programmed from scratch by members of the University at Buffalo's IEEE Student Branch.
99 parts6MIT
4 layers70 × 99.9 mm
Micromouse
UBIEEE/FrankenMouse6FrankenMouse is a MicroMouse robot that was designed, built, and programmed from scratch by members of the University at Buffalo's IEEE Student Branch.
- Size
- 70 × 99.9 mm
- Copper layers
- 4
- Thickness
- 1.61 mm
- Parts
- 100
- Nets
- 80
- Pads
- 337
- Tracks, vias
- 561, 193
- Pours
- 65
- Routed
- Yes
- KiCad
- KiCad 8.0 (file 20240108)
- Created
- 16 Apr 2024
- Updated
- 25 Aug 2026
Overview
Micromouse is an open-source printed circuit board by UBIEEE, from the UBIEEE/FrankenMouse repository on GitHub, published under the MIT licence. It is a 4-layer board of 70 × 99.9 mm with 100 parts on 80 nets, routed with 561 tracks and 193 vias.
It is built around the STM32WB55CGU6, DLF162500LT-5028A1 and DRV8835DSS, with the ICM-42670-P, USBLC6-2SC6 and SFH 4545 among its other parts. Its parts include 28 capacitors, 24 resistors, 10 transistors, 6 ICs and 5 diodes. It belongs with the STM32 boards of this library.
Main components
10
STM32WB55CGU6
UFQFPN-48(7x7)UFQFPN-48(7x7) Microcontrollers (MCU/MPU/SOC) ROHSSTMicroelectronicsRF Transceiver ICs
DLF162500LT-5028A1
SMD-4P,1.6x0.8mm-40℃~+85℃ 0.33dB 2.4GHz~2.5GHz 49.2dB 50Ω Low Pass SMD-4P,1.6x0.8mm RF Filters ROHSTDKRF Filters
DRV8835DSS
WSON-12-EP(2x3)-40℃~+150℃ 1.5A 2 2V~7V 305mΩ 95nA Yes WSON-12-EP(2x3) Brushed DC Motor Drivers ROHSTexas InstrumentsStepper Motor Driver
ICM-42670-P
LGA-14(2.5x3)-40℃~+85℃ 1.71V~3.6V 16bit 2.25KB 3.5uA IMU (accelerometer + gyroscope) Motion event detection SPI、I2C、I3C X,Y,Z X,Y,Z ±16g ±2000dps LGA-14(2.5x3) Accelerometers ROHSTDK InvenSenseAccelerometers
USBLC6-2SC6
SOT-23-60.35pF、0.8pF 100nA 150W@8/20us 15V 2 5V 6A@8/20us 6V ESD SOT-23-6 ESD and Surge Protection (TVS/ESD) ROHSUMWESD And Surge Protection (TVS/ESD)
SFH 4545
插件-40℃~+100℃ 1.5V 550mW/sr@IF=100mA 950nm Plugin Infrared LED Emitters ROHSOSRAM Opto SemiconInfrared LED Emitters
TEFT4300
插件,D=3mm-40℃~+100℃ 0.3V@0.1mA 100mW 1nA 50mA 70V 925nm NPN ±30° 插件,D=3mm Phototransistors ROHSVishay IntertechnologyPhototransistors
AO3401A
SOT-231 P-Channel 14nC@10V 30V 47mΩ@10V、60mΩ@4.5V、85mΩ@2.5V 4A 55pF 645pF 80pF 900mV SOT-23 MOSFETs ROHSAlpha & Omega SemiconductorMOSFETs
PS1240P02BT
插件,D=12.2mm-10℃~+70℃ 12.2mm 30V 3V 4kHz 5mm 7.8mm 70dB Passive (Externally Driven) Piezoelectric 插件,D=12.2mm Buzzers ROHSTDKBuzzers
SS34
SMA(DO-214AC)-55℃~+125℃ 3A 40V 500uA@40V 550mV@3A Independent SMA(DO-214AC) Schottky Diodes ROHSMDDSchottky Diodes
README
README.mdFrankenMouse
Introduction
FrankenMouse is a MicroMouse robot that was designed, built, and programmed from scratch by members of the University at Buffalo's IEEE Student Branch.
Some might say that our robot resembles one of Dr. Victor Frankenstein's creations - smaller and more agile, yet equally terrifying. Thus, the name FrankenMouse was born.
Objective
The objective of a MicroMouse robot is to autonomously nativate and solve a 16x16 maze as fast as possible. To learn more about the MicroMouse competition, check out the excellent Veritasium Video on the topic.
Team
Current Collaborators (Versions 2+3):
- Peter Lilley
- PCB designs, V2+3 mechanical designs, soldering, 3D printing, assembly, software
- Eric Butcher
- Solver algorithms
Former Collaborators (Version 1):
- Dylan Taton
- V1 mechanical design
- Sam Chen
- FloodFill algorithm desktop simulation (MicroMouseSimulator)
Specs
| Name | FrankenMouse V2+3 |
|---|---|
| Length/Width/Height | 10cm/7cm/3.5cm |
| Weight | 69 g (w/o batt), 92 g (w/ batt) |
| MCU | STM32WB55CGU6 |
| Motors | 6V Micro Metal Gearmotor (20:1) |
| Encoders | Micro Metal Motor Encoder (6 pole magnetic discs) |
| Motor Driver | DRV8835 |
| IR Sensors | SFH4545 (Emitter) + TEFT4300 (Receiver) |
| IMU | ICM-42670-P |
| Tire Diameter | 2.5 cm |
| Buzzer | PS1240P02BT |
| Battery | 2S 450 mAh Li-Po |
| Voltage Regulator | TPS564208DDCR |
| Connectivity | SWD, BLE, USB-C (V2 only) |
Robot Versions
- Version 1
- Custom PCB was designed and manufactured. Assembly problems led to the decision to redesign the robot
- Version 2 (Green PCB)
- Conceptually different PCB design from V1. Smaller, more compact robot, and better cohesion between PCB and mechanical design
- Fully assembled and functional robot
- Version 3 (Blue PCB)
- Minor revisions to V2 PCB including:
- Fixed the incorrect motor driver wiring to MCU (enable proper hardware PWM control instead of software PWM)
- Adjusted IR sensor angles for better wall detection
- Got rid of annoying JST motor/encoder connectors on PCB in favor of simple pin headers
- Moved SWD connector to not interfere with buttons
- Removed USB-C connector (not necessary)
- Added an LED
- Minor revisions to V2 PCB including:
Repository Structure
firmware/- Software running on the robothardware/- PCB designs and mechanical CAD filessimulation/- Godot-based desktop 3D simulation of the robotapp/- iOS/macOS app for controlling the robot over BLEcli/- Custom interactive shell with command-line tools for controlling the robot over BLEti84_controller- (Silly) TI-84 Plus CE program that communicates with the CLI over a serial connection, used to control the robot
Gallery
Version 3:
Parts
100| Qty | Value | Footprint | References |
|---|---|---|---|
| 14 | 100n | Capacitor_SMD:C_0402_1005Metric | C3, C5, C6, C7, C8, C9, C10, C12, C16, C22, C23, C25, C27, C29 |
| 8 | 5k1 | Resistor_SMD:R_0402_1005Metric | R6, R8, R9, R10, R21, R22, R23, R24 |
| 6 | M2 | MountingHole:MountingHole_2.2mm_M2 | H1, H2, H3, H4, H8, H9 |
| 5 | Q_NPN_BEC | Package_TO_SOT_SMD:SOT-23 | Q2, Q7, Q8, Q9, Q10 |
| 4 | 1k8 | Resistor_SMD:R_0603_1608Metric | R17, R18, R19, R20 |
| 4 | 20 | Resistor_SMD:R_1206_3216Metric | R13, R14, R15, R16 |
| 3 | 1.152mm | footprints:JLC_TOOLING_HOLE | H5, H6, H7 |
| 3 | 100 | Resistor_SMD:R_0402_1005Metric | R4, R5, R7 |
| 3 | 10k | Resistor_SMD:R_0402_1005Metric | R2, R11, R12 |
| 3 | 4u7 | Capacitor_SMD:C_0603_1608Metric | C4, C11, C17 |
| 2 | 10n | Capacitor_SMD:C_0402_1005Metric | C2, C26 |
| 2 | 10p | Capacitor_SMD:C_0402_1005Metric | C18, C19 |
| 2 | 22u | Capacitor_SMD:C_0805_2012Metric | C14, C15 |
| 2 | CONN_MOTOR_ENCODER | footprints:CONN_BM06B-SRSS-TB_JST | J4, J5 |
| 2 | SFH4545 | footprints:SFH4545_FLIPPED | D2, D4 |
| 2 | SFH4545 | footprints:SFH4545 | D3, D5 |
| 2 | SW_Push | Button_Switch_THT:SW_PUSH_1P1T_6x3.5mm_H5.0_APEM_MJTP1250 | SW1, SW2 |
| 2 | TEFT4300 | footprints:TEFT4300_FLIPPED | Q4, Q6 |
| 2 | TEFT4300 | footprints:TEFT4300 | Q3, Q5 |
| 2 | ~ | footprints:MOTOR_N20 | M1, M2 |
| 1 | 0p3 | Capacitor_SMD:C_0402_1005Metric_Pad0.74x0.62mm_HandSolder | C21 |
| 1 | 0p8 | Capacitor_SMD:C_0402_1005Metric_Pad0.74x0.62mm_HandSolder | C20 |
| 1 | 100@100MHz | Diode_SMD:D_0805_2012Metric | FB1 |
| 1 | 10n | Inductor_SMD:L_0402_1005Metric | L3 |
| 1 | 10u | Capacitor_SMD:C_1206_3216Metric | C13 |
| 1 | 10u | Inductor_SMD:L_0805_2012Metric | L2 |
| 1 | 1k | Resistor_SMD:R_0402_1005Metric | R3 |
| 1 | 1u | Capacitor_SMD:C_0603_1608Metric | C1 |
| 1 | 2n7 | Inductor_SMD:L_0402_1005Metric_Pad0.77x0.64mm_HandSolder | L4 |
| 1 | 2u2 | Inductor_SMD:L_0805_2012Metric | L1 |
| 1 | 2u2 | Capacitor_SMD:C_0603_1608Metric | C24 |
| 1 | 32MHz | footprints:XL7EL89CKI-111YLC-32M | X1 |
| 1 | 32kHz768 | Crystal:Crystal_SMD_3215-2Pin_3.2x1.5mm | X2 |
| 1 | 33k | Resistor_SMD:R_0402_1005Metric | R1 |
| 1 | AO3401A | Package_TO_SOT_SMD:SOT-23 | Q1 |
| 1 | Antenna_Chip | footprints:ANT_2450AT42A100E | AE1 |
| 1 | Battery Conn | footprints:CONN_BATTERY | J1 |
| 1 | Conn_ST_STDC14 | footprints:SAMTEC_FTSH-107-01-L-DV-K-A | J3 |
| 1 | DLF162500LT-5028A1 | footprints:DLF162500LT-5028A1 | U3 |
| 1 | DRV8835 | footprints:DSS0012A | U6 |
| 1 | ICM-42670-P | footprints:ICM-42670-P | U4 |
| 1 | PS1240P02BT | footprints:PS1240P02BT | BZ1 |
| 1 | SS34 | Diode_SMD:D_SMA | D1 |
| 1 | STM32WB55CGU6 | Package_DFN_QFN:QFN-48-1EP_7x7mm_P0.5mm_EP5.6x5.6mm | U2 |
| 1 | TPS564208DDCR | Package_TO_SOT_SMD:TSOT-23-6 | U1 |
| 1 | USBLC6-2SC6 | Package_TO_SOT_SMD:SOT-23-6 | U5 |
| 1 | USB_C_Receptacle_USB2.0_16P | footprints:USB_C_16P_QTGM027 | J2 |
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Questions
How big is the Micromouse PCB?
It measures 70 × 99.9 mm and has 4 copper layers, 1.61 mm thick.
What parts does the Micromouse use?
100 parts, built around the STM32WB55CGU6, DLF162500LT-5028A1, DRV8835DSS and ICM-42670-P. 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 Micromouse KiCad files?
From the UBIEEE/FrankenMouse repository on GitHub, at the commit this page was made from: the board is hardware/mouse_v2/pcb/micromouse.kicad_pcb and its schematic hardware/mouse_v2/pcb/micromouse.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Micromouse 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).