2 layers53 × 45 mm
Project stander elec
Yongxin-Lu/self_balancing_car
a stm32 self-balancing car. include pcb board, program and model.
75 parts3
2 layers97.7 × 29.9 mm
Line tracer v2
Anda2012/Open-line-tracerESP32-C3 Mini-1 + Massmore JET QTR-11D A fast and accurate MicroPython line follower using the ESP32-C3 Mini-1 and an 11-channel JET QTR-11D sensor. The robot reads all channels, calculates the line position, and uses a tunable PID controller to drive motors smoothly around curves.
- Size
- 97.7 × 29.9 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 38
- Nets
- 56
- Pads
- 206
- Tracks, vias
- 428, 61
- Pours
- 1
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 24 Nov 2025
- Updated
- 24 Nov 2025
Overview
Line tracer v2 is an open-source printed circuit board by Anda2012, from the Anda2012/Open-line-tracer repository on GitHub, published under the MIT licence. It is a 2-layer board of 97.7 × 29.9 mm with 38 parts on 56 nets, routed with 428 tracks and 61 vias.
It is built around the ESP32-C3-MINI-1, DRV8833PWP and AMS1117-3.3, with the IP5306 and WS2812B-2020 among its other parts. Its parts include 8 capacitors, 7 resistors, 7 diodes, 5 ICs and 1 connector. It belongs with the robots and motor control and sensors and measurement boards and the ESP32 and RISC-V boards of this library.
Main components
5ESP32-C3-MINI-1
--40℃~+81℃ -89dBm 2.4GHz 350mA 3V~3.6V 82mA ESP32-C3 Chip On-board PCB Antenna UART - WiFi Modules ROHSRF CrazyWiFi Modules
DRV8833PWP
ETSSOP-16-EP-40℃~+85℃ 1.5A 2 2.7V~10.8V 2.7V~10.8V 360mΩ Bipolar Driver Overcurrent Protection、Short-Circuit Protection、Over temperature protection、Under-voltage lockout、Dead-time / shoot-through protection Yes ETSSOP-16-EP Stepper Motor Driver ROHSTexas InstrumentsStepper Motor Driver
AMS1117-3.3
SOT-223-40℃~+125℃ 0.003%Vout 1 1.1V@(800mA) 15V 1A 3.3V 5mA 72dB@(120Hz) Fixed Over Current Protection、Short Circuit Protection、Thermal shutdown Positive SOT-223 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSAdvanced Monolithic SystemsVoltage Regulators - Linear, Low Drop Out (LDO) Regulators
IP5306
ESOP-80℃~+70℃ 1 100uA 2.1A 3V 4.2V 4.65V~5.5V Charging IC、Protection IC I2C Lithium Battery ESOP-8 Battery Management ROHSINJOINICBattery Management
WS2812B-2020
SMD,2.2x2mm0.6mA 0.84mm 120us 160mcd 200mcd 2kHz 2mm 2mm 300ns 470.4nm 515.6nm 520mcd 5V 622.5nm 800Kbit/s Built-in power-on reset circuit、Built-in power-on reset circuit、Integrated intelligent reverse connection protection function Top-mount SMD,2.2x2mm RGB LEDs(Built-in IC) ROHSWorldsemiRGB LEDs(Built-In IC)
README
README.mdOpen source MicroPython 11-Channel PID Line Follower
ESP32-C3 Mini-1 + Massmore JET QTR-11D
This project is a compact and accurate line follower built with an ESP32-C3 Mini-1 running MicroPython and an 11-channel Massmore JET QTR-11D reflectance sensor. It reads all sensor channels, calculates line position, and applies a tunable PID controller to drive the motors smoothly.
Features
11-channel reflectance sensing
PID control (P, I, D adjustable in code)
Smooth PWM motor output
Simple, modular MicroPython code
Works with the DRV8833 motor driver
uses the ip5306 battery charger & boost converter
Project Structure src │ main.py Main loop + motor control │ config.py PID + speed settings
Setup
Install MicroPython on the ESP32-C3.
Upload the /src files to the board.
Adjust PID constants in config.py as needed.
Run main.py to start the line follower.
PID Tuning Tips
Increase P for stronger corrections.
Add I to reduce drift on long straights.
Use D to smooth out fast turns.
License
MIT License
Parts
38| Qty | Value | Footprint | References |
|---|---|---|---|
| 3 | 10k | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R4, R6, R14 |
| 2 | 100nf | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C5, C6 |
| 2 | 10uF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C4, C10 |
| 2 | 22uF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C1, C2 |
| 2 | 5.1k | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R1, R3 |
| 2 | Motor_DC | User:N20 motor | MA1, MB1 |
| 2 | SW_Push | Button_Switch_SMD:SW_Push_SPST_NO_Alps_SKRK | D0, RST1 |
| 2 | TestPoint | TestPoint:TestPoint_Pad_2.0x2.0mm | BAT, GND |
| 1 | 1.0uH | Inductor_SMD:L_6.3x6.3_H3 | L1 |
| 1 | 100% | LED_SMD:LED_0805_2012Metric_Pad1.15x1.40mm_HandSolder | D4 |
| 1 | 10K | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R2 |
| 1 | 10nF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C8 |
| 1 | 2.2uF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C3 |
| 1 | 25% | LED_SMD:LED_0805_2012Metric_Pad1.15x1.40mm_HandSolder | D1 |
| 1 | 50% | LED_SMD:LED_0805_2012Metric_Pad1.15x1.40mm_HandSolder | D2 |
| 1 | 500m | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R7 |
| 1 | 75% | LED_SMD:LED_0805_2012Metric_Pad1.15x1.40mm_HandSolder | D3 |
| 1 | AMS1117-3.3 | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | U2 |
| 1 | DRV8833PWP | Package_SO:HTSSOP-16-1EP_4.4x5mm_P0.65mm_EP3.4x5mm_Mask2.46x2.31mm_ThermalVias | U4 |
| 1 | ESP32-C3-MINI-1 | RF_Module:ESP32-C6-MINI-1 | U5 |
| 1 | IP5306 | User:ip5306 | U1 |
| 1 | JET-QTR-11D | Connector_PinHeader_2.54mm:PinHeader_1x14_P2.54mm_Horizontal | U3 |
| 1 | SW_Push_SPDT | Button_Switch_SMD:SW_SPDT_PCM12 | ON OFF |
| 1 | USB_C_Receptacle_USB2.0_16P | Connector_USB:USB_C_Receptacle_GCT_USB4105-xx-A_16P_TopMnt_Horizontal | J1 |
| 1 | WS2812B-2020 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D8 |
The 34 most common of 38 parts.
Questions
How big is the Line tracer v2 PCB?
It measures 97.7 × 29.9 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Line tracer v2 use?
38 parts, built around the ESP32-C3-MINI-1, DRV8833PWP, AMS1117-3.3 and IP5306. 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 Line tracer v2 KiCad files?
From the Anda2012/Open-line-tracer repository on GitHub, at the commit this page was made from: the board is PCB/line tracer v2.kicad_pcb and its schematic PCB/line tracer v2.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Line tracer v2 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).
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