2 layers102.6 × 150 mm
2 layers98 × 149 mm
Ee110 alpha board
akrivka/WALL-E33D-printed functional WALL-E model
- Size
- 98 × 149 mm
- Copper layers
- 2
- Thickness
- 1 mm
- Parts
- 100
- Nets
- 110
- Pads
- 396
- Tracks, vias
- 1,066, 231
- Pours
- 545
- Routed
- Yes
- KiCad
- KiCad 8.0 (file 20240108)
- Created
- 13 Feb 2024
- Updated
- 28 Oct 2024
Overview
Ee110 alpha board is an open-source printed circuit board by akrivka, from the akrivka/WALL-E repository on GitHub. It is a 2-layer board of 98 × 149 mm with 100 parts on 110 nets, routed with 1,066 tracks and 231 vias.
It is built around the 74LVC245AD, LM2902 and LM386, with the LM1086T-5.0, MPU-9250 and BLM18HE152SN1 among its other parts. Its parts include 32 capacitors, 16 resistors, 13 diodes, 9 ICs and 6 connectors.
Main components
6
74LVC245AD
SOIC-20-300mil-40℃~+125℃ 1 1.65V~3.6V 2.9ns@3.3V,50pF 24mA 40uA 74LVC 8 Bidirectional Schmitt trigger Tri-State SOIC-20-300mil Buffers, Drivers, Receivers, Transceivers ROHSNexperiaBuffer/Driver/Transceiver
LM2902
SOP-14-15V~-1.5V、1.5V~15V -40℃~+125℃ 1.3MHz 2nA 300nA 30uV/℃ 3V~30V 4 400V/ms 40mA 40nV/√Hz@1kHz 700uA 7mV 80dB Built-in compensation SOP-14 Operational Amplifier ROHSSlkorOperational Amplifier
LM386
SOP-80.2% 0℃~+70℃ 4V~12V 4mA 50dB 700mWx1@8Ω Analog voltage gain SOP-8 Audio Amplifiers ROHSGcoreAudio Power OpAmps
LM1086T-5.0
TO-220-40℃~+125℃@(Tj) 0.003%Vout 1 1.3V@(1.5A) 1.5A 15V 5V 5mA 75dB@(120Hz) Fixed Over Current Protection、Thermal shutdown Positive TO-220 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSHGSEMIVoltage Regulators - Linear, Low Drop Out (LDO) Regulators
MPU-9250
QFN-24-EP(3x3)-40℃~+85℃ 2.4V~3.6V 8uA IMU (accelerometer + gyroscope) Motion event detection SPI、I2C X,Y,Z X,Y,Z ±16g ±2000dps QFN-24-EP(3x3) Accelerometers ROHSTDK InvenSenseAccelerometers
BLM18HE152SN1
06031 1.5kΩ@100MHz 500mA 500mΩ ±25% 0603 Ferrite Beads ROHSMurataFerrite Beads
README
README.mdWALL-E
For Blacker Hovse Ditch Day 2024 (Caltech tradition), we built a ~70% "real-life" size WALL-E robot, that could be driven remotely with a PS5 controller, move his head and arms, record and transmit a video feed, speak (faintly), and he even had a small storage space in his body (for trash of course!).
Here's my video of him when he was at his best (he's currently sitting in a closet in Blacker to be used as a static showcase project, while I study over in Switzerland...):
https://github.com/user-attachments/assets/6cdb80cf-8617-4d74-ad6d-1ea3f1ae313b
The model we used was https://www.thingiverse.com/thing:3703555, but we scaled it up by 5/3 which introduced a bunch of challenges.
! This repository was used for code-sharing and does not aim to make this project repeatable. Maybe in the future...
(rough) List of parts
- Rapsberry Pi 4 (Bluetooth) on Ubuntu 22.04 with ROS2 Humble installed
- PS5 controller
- RoboClaw 2x15A Motor controller
- 5202 Yellow Jacket Planetary Gear Motor
- TowerPro MG996R servos
- HiLetgo PCA9685 PWM Servo Motor Driver
- Small USB speaker
- some random webcam we found
- 1x 11.1V Zeee LiPo battery (for motor), 1x 7.4V Zee LiPo battery (for servos), some random powerbank (for RPi)
Some more photos
Parts
100| Qty | Value | Footprint | References |
|---|---|---|---|
| 8 | D_Small_Filled | Diode_SMD:D_0603_1608Metric_Pad1.05x0.95mm_HandSolder | D2, D3, D4, D5, D6, D7, D12, D13 |
| 6 | 100nF | Capacitor_Tantalum_SMD:CP_EIA-1608-08_AVX-J_Pad1.25x1.05mm_HandSolder | C4, C5, C6, C8, C10, C11 |
| 5 | 0.1uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C27, C29, C30, C31, C32 |
| 4 | 4.7uF | Capacitor_Tantalum_SMD:CP_EIA-1608-08_AVX-J_Pad1.25x1.05mm_HandSolder | C12, C14, C16, C21 |
| 3 | , , | ||
| 3 | 10uF | Capacitor_Tantalum_SMD:CP_EIA-1608-08_AVX-J_Pad1.25x1.05mm_HandSolder | C1, C2, C3 |
| 3 | 200 | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R4, R7, R8 |
| 3 | 24K | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R10, R12, R14 |
| 3 | 36K | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R11, R13, R15 |
| 2 | 1.3pF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C13, C20 |
| 2 | 10k | Potentiometer_THT:Potentiometer_Bourns_3296P_Horizontal | RV1, RV3 |
| 2 | 10uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C23, C26 |
| 2 | 121 | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R2, R3 |
| 2 | 22uF | Capacitor_Tantalum_SMD:CP_EIA-1608-08_AVX-J_Pad1.25x1.05mm_HandSolder | C7, C9 |
| 2 | 3.3nH | Inductor_SMD:L_0805_2012Metric_Pad1.15x1.40mm_HandSolder | L3, L5 |
| 2 | 4pF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C17, C18 |
| 2 | D_Small_Filled | Diode_SMD:D_1206_3216Metric_Pad1.42x1.75mm_HandSolder | D10, D11 |
| 2 | LM1086 | Package_TO_SOT_SMD:TO-263-3_TabPin2 | U1, U2 |
| 1 | +3.3V | TestPoint:TestPoint_THTPad_2.0x2.0mm_Drill1.0mm | TP4 |
| 1 | 0.05uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C25 |
| 1 | 1.8pF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C15 |
| 1 | 10 | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R9 |
| 1 | 100 | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R1 |
| 1 | 1049P | My_Footprint:1049P_KEY | B1 |
| 1 | 10nF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C28 |
| 1 | 183 | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R6 |
| 1 | 1k | Potentiometer_THT:Potentiometer_Bourns_3296P_Horizontal | RV2 |
| 1 | 1pF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C19 |
| 1 | 1uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C22 |
| 1 | 250uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C24 |
| 1 | 2nH | Inductor_SMD:L_0805_2012Metric_Pad1.15x1.40mm_HandSolder | L4 |
| 1 | 32.768KHz | Crystal:Crystal_SMD_3215-2Pin_3.2x1.5mm | X2 |
| 1 | 363 | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R5 |
| 1 | 4.7k | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R16 |
| 1 | 48MHz | Crystal:Crystal_SMD_2016-4Pin_2.0x1.6mm | X1 |
| 1 | 6.8uH | Inductor_SMD:L_0603_1608Metric_Pad1.05x0.95mm_HandSolder | L2 |
| 1 | 74LS138 | Package_SO:SOIC-16_3.9x9.9mm_P1.27mm | U5 |
| 1 | 74LVC245 | Package_SO:SOIC-20W_7.5x15.4mm_P1.27mm | U6 |
| 1 | Antenna_Chip | My_Footprint:EE110_Antenna | AE1 |
| 1 | BLM18HE152SN1 | Inductor_SMD:L_7.3x7.3_H3.5 | L1 |
| 1 | CC2652 | My_Footprint:RGZ0048A_NV | U4 |
| 1 | DIO22 | TestPoint:TestPoint_THTPad_2.0x2.0mm_Drill1.0mm | TP1 |
| 1 | DIO23 | TestPoint:TestPoint_THTPad_2.0x2.0mm_Drill1.0mm | TP2 |
| 1 | DIO24 | TestPoint:TestPoint_THTPad_2.0x2.0mm_Drill1.0mm | TP3 |
| 1 | GND | TestPoint:TestPoint_THTPad_2.0x2.0mm_Drill1.0mm | TP5 |
| 1 | JTAG | My_Footprint:CON10_2X5_DUK_FTSH_SAI | J2 |
| 1 | LCD-20X4B | My_Footprint:WINSTAR-WH1604A | DS1 |
| 1 | LED | LED_THT:LED_D3.0mm | D1 |
| 1 | LM2902 | Package_SO:SOIC-14_3.9x8.7mm_P1.27mm | U8 |
| 1 | LM372x | Package_TO_SOT_SMD:SOT-23-5 | U3 |
| 1 | LM386 | Package_DIP:DIP-8_W7.62mm | U7 |
| 1 | MPU-9250 | Package_DFN_QFN:QFN-24-1EP_3x3mm_P0.4mm_EP1.75x1.6mm | U9 |
| 1 | Micro_SD_Card | Connector_Card:microSD_HC_Hirose_DM3D-SF | J4 |
| 1 | RESET | Button_Switch_SMD:SW_SPST_TL3342 | SW1 |
| 1 | SERVO1 | Connector_JST:JST_XH_S4B-XH-A-1_1x04_P2.50mm_Horizontal | J5 |
| 1 | SERVO2 | Connector_JST:JST_XH_S4B-XH-A-1_1x04_P2.50mm_Horizontal | J6 |
| 1 | Speaker | My_Footprint:SPKR_CVS-1508 | LS1 |
| 1 | TEST_BLUE | LED_SMD:LED_0603_1608Metric_Pad1.05x0.95mm_HandSolder | D9 |
| 1 | TEST_BUTTON | Button_Switch_SMD:SW_SPST_TL3342 | SW2 |
| 1 | TEST_GREEN | LED_SMD:LED_0603_1608Metric_Pad1.05x0.95mm_HandSolder | D8 |
| 1 | power | My_Footprint:My_Power_Connector | J1 |
| 1 | ~ | My_Footprint:4x4_Keypad | J3 |
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Questions
How big is the Ee110 alpha board PCB?
It measures 98 × 149 mm and has 2 copper layers, 1 mm thick.
What parts does the Ee110 alpha board use?
100 parts, built around the 74LVC245AD, LM2902, LM386 and LM1086T-5.0. 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 Ee110 alpha board KiCad files?
From the akrivka/WALL-E repository on GitHub, at the commit this page was made from: the board is boards/alpha_board/pcb/ee110_alpha_board.kicad_pcb and its schematic boards/alpha_board/pcb/ee110_alpha_board.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Ee110 alpha board design in my own project?
Its repository states no licence, so its author keeps all rights: ask akrivka before reusing the design.