2 layers79 × 60 mm
2 layers80 × 60 mm
Pg id656
adasbl/main-controller-pcbCustom PCB for an autonomous wheeled robot
- Size
- 80 × 60 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 47
- Nets
- 76
- Pads
- 197
- Tracks, vias
- 316, 142
- Pours
- 3
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 7 Apr 2026
- Updated
- 14 Oct 2026
Overview
Pg id656 is an open-source printed circuit board by adasbl, from the adasbl/main-controller-pcb repository on GitHub. It is a 2-layer board of 80 × 60 mm with 47 parts on 76 nets, routed with 316 tracks and 142 vias.
It is built around the STM32L476RGT6, DI62063.3S2 and LSM6DSV16XTR. Its parts include 16 capacitors, 9 resistors, 9 connectors, 4 diodes and 2 ICs. It belongs with the STM32 boards of this library.
Main components
3
STM32L476RGT6
LQFP-64(10x10)-40℃~+85℃ 1.71V~3.6V 128KB 12bit 12bit 1MB 32 Bit 51 80MHz ARM Cortex-M4 Built-in FLASH LQFP-64(10x10) Microcontrollers (MCU/MPU/SOC) ROHSSTMicroelectronicsMicrocontrollers (MCU/MPU/SOC)
DI62063.3S2
SOT-23-3(TO-236-3)-40℃~+85℃@(Tj) 1 200mA 3.3V 6V 75mV@(30mA) 8uA Fixed Over Current Protection Positive SOT-23-3(TO-236-3) Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSDIOTECVoltage Regulators - Linear, Low Drop Out (LDO) Regulators
LSM6DSV16XTR
LGA-14-40℃~+85℃ 1.71V~3.6V 2.6uA 4.5KB IMU (accelerometer + gyroscope) SPI、I2C X,Y,Z X,Y,Z ±16g ±4000dps 运动事件检测、同步与时间戳 LGA-14(2.5x3) Accelerometers ROHSSTMicroelectronicsAccelerometers
README
README.mdpg-id-656-main-controller-pcb
Custom PCB controller board for an autonomous wheeled robot featuring STM32L476RG
Project Scope & Features
- Design: Mixed-signal schematic and custom 2-layer PCB layout designed in KiCad 9.0.5.
- Core Architecture: Driven by the ARM Cortex-M4 STM32L476RGT6 MCU, paired with a DI6206 3.3V LDO linear regulator for clean logic power management.
- Motion & Power Control: Integrated female header socket sockets designed for direct mounting of a DRV8833 dual H-bridge motor driver breakout module.
- Hardware-level fault protection monitoring via a dedicated active-low emergency fault indicator LED connected directly to the driver's
nFAULTpin (signals overcurrent, thermal shutdown, or undervoltage conditions).
- Hardware-level fault protection monitoring via a dedicated active-low emergency fault indicator LED connected directly to the driver's
- Sensing & Odometry:
- Onboard ultra-low-power LSM6DSV16X 6-axis IMU communicating via I2C for inertial navigation.
- Dedicated dual Encoder input ports providing +5V power and bidirectional hardware interrupt channels for precise wheel speed and position tracking.
- User Interface & Diagnostics: General-purpose status and user LEDs for runtime debugging.
- Onboard tactile user buttons and a hardware reset line.
pcb photos and renders:
pcb layout:
circuit diagram:
Repository Structure
3Dmodels/– 3D STEP/STL models.gerbers/– Production-ready Gerber and drill files.images/– 3D renders, schematic exports, and photos.KiCad-files/– KiCad project source files (.kicad_pro,.kicad_sch,.kicad_pcb).id-656-pcb_v8.pdf– PDF export of the PCB layout.id-656-schematics_v8.pdf– PDF export of the schematic diagram.
Parts
47| Qty | Value | Footprint | References |
|---|---|---|---|
| 9 | 100nF | Capacitor_SMD:C_0603_1608Metric | C4, C5, C6, C7, C8, C9, C10, C13, C16 |
| 4 | 220 | Resistor_SMD:R_0603_1608Metric | R1, R2, R3, R9 |
| 4 | 4k7 | Resistor_SMD:R_0603_1608Metric | R5, R6, R7, R8 |
| 4 | Conn_01x04_Pin | Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical | J2, J3, J4, J6 |
| 4 | LED | LED_SMD:LED_0603_1608Metric | D1, D2, D3, D4 |
| 4 | MountingHole | MountingHole:MountingHole_3.2mm_M3_DIN965 | H1, H2, H3, H4 |
| 3 | 1uF | Capacitor_SMD:C_0805_2012Metric | C1, C2, C12 |
| 3 | Conn_01x06_Pin | Connector_PinHeader_2.54mm:PinHeader_1x06_P2.54mm_Vertical | J1, J8, J9 |
| 2 | Conn_02x03_Odd_Even | Connector_PinHeader_2.54mm:PinHeader_2x03_P2.54mm_Vertical | J5, J7 |
| 2 | SW_Push | Button_Switch_THT:SW_PUSH_6mm | B1, RESET |
| 1 | 0R | Resistor_SMD:R_0805_2012Metric | R4 |
| 1 | 1000uF | Capacitor_SMD:CP_Elec_8x10 | C15 |
| 1 | 10nF | Capacitor_SMD:C_0603_1608Metric | C11 |
| 1 | 10uF | Capacitor_SMD:C_0805_2012Metric | C3 |
| 1 | 4.7u | Capacitor_SMD:C_0603_1608Metric | C14 |
| 1 | DI62063 | Package_TO_SOT_SMD:SOT-23 | U3 |
| 1 | LSM6DSV16XTR | Moje_Elementy:XDCR_LSM6DSV16XTR | LSM6DSV16XTR |
| 1 | STM32L476RGT6 | Moje_Elementy:LQFP-64_10X10_MM | U1 |
Questions
How big is the Pg id656 PCB?
It measures 80 × 60 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Pg id656 use?
47 parts, built around the STM32L476RGT6, DI62063.3S2 and LSM6DSV16XTR. 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 Pg id656 KiCad files?
From the adasbl/main-controller-pcb repository on GitHub, at the commit this page was made from: the board is KiCad-files/pg-id656.kicad_pcb and its schematic KiCad-files/pg-id656.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Pg id656 design in my own project?
Its repository states no licence, so its author keeps all rights: ask adasbl before reusing the design.
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