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2 layers78 × 55 mmMotor controller, the printed circuit board in 3D

Motor controller

asm17-moving-agent/cleany3

끌리니 (Cleany) - 무인 공간 관리 로봇

Open in PCBKitView on GitHub.kicad_pcb
Size
78 × 55 mm
Copper layers
2
Thickness
1.6 mm
Parts
13
Nets
40
Pads
84
Tracks, vias
142, 0
Pours
2
Routed
Yes
KiCad
KiCad 10.0 (file 20260206)
Created
2 Jul 2026
Updated
6 Nov 2026

Overview

Motor controller is an open-source printed circuit board by asm17-moving-agent, from the asm17-moving-agent/cleany repository on GitHub. It is a 2-layer board of 78 × 55 mm with 13 parts on 40 nets, routed with 142 tracks and 0 vias.

It is built around the ESP32-S3-DEVKITC-1-N8. Its parts include 2 connectors and 1 IC. It belongs with the robots and motor control boards and the ESP32 boards of this library.

Main components

1

README

README.md

Cleany 로봇 런타임

Cleany 로봇의 ROS 2 runtime, Gazebo/MuJoCo 시뮬레이션, ESP32 펌웨어를 관리하는 저장소입니다. 제품 목표와 설계 결정은 KB에서 확인합니다. 각 구현과 시험의 상태는 제품 전체의 완료 여부와 구분합니다.

문서 지도

mermaid
flowchart TB
    KB["KB / 제품 목표와 설계 결정"]
    Entry["README / 작업 선택"]
    Setup["DEVELOPMENT_SETUP / 환경과 빌드"]
    Run["RUNNING / 실행"]
    Test["TESTING / 검증"]
    Cal["CALIBRATION / 수집과 평가"]
    Contract["INTEGRATION / 연결과 계약 위치"]
    Ref["코드 옆 docs / 단위와 안전 규약"]
    API["ROS_INTERFACES / 노드별 통신 목록"]
    Evidence["EVIDENCE / 과거 원본 위치"]
    KB -. "제품 기준" .-> Entry
    Entry --> Setup
    Setup --> Run
    Run --> Test
    Run --> Cal
    Entry --> Contract
    Contract --> Ref
    Entry --> API
    API --> Ref
    Test --> Evidence

개발 시작

기준 환경은 Ubuntu 22.04, ROS 2 Humble, Python 3.10, Gazebo Fortress 6입니다. 새 환경은 개발환경 설치를 먼저 따릅니다. 아래 명령은 저장소 루트의 Humble 터미널에서 실행합니다.

bash
git submodule update --init --recursive docs/cleany-docs
source /opt/ros/humble/setup.bash
make deps-gazebo
make test-gazebo
make sim-gazebo

전체 workspace는 make deps, make build, make test를 사용합니다. 각 검사의 범위와 시뮬레이션, 실물 검증의 차이는 테스트 가이드에서 확인합니다.

필요한 문서

작업문서
환경 설치, 의존성, 빌드 경로개발환경
시뮬레이션, Mission Runtime, Monitor 실행실행
변경 검증, runtime 시험, 결과 저장테스트
hand-eye 데이터 수집과 검토Calibration
노드별 토픽, 서비스, 액션 찾기ROS 인터페이스 색인
Backend, ROS, MCU 연동연동과 계약
펌웨어 빌드, 업로드, 장치 확인ESP32, 배선
과거 보고서와 실행 원본 찾기근거 색인
코드 구조와 구현 학습학습 가이드, HTML 뷰어
인식과 sorting 실행Perception, Manipulation
물체 하나의 Action 실행Mock 서버, MuJoCo BT 서버
제품, 설계, 미해결 질문KB

코드 위치

위치책임
ros2_ws/src/ROS 패키지, 순수 core, launch와 package 설정
esp32/micro-ROS 펌웨어, 빌드 보조 도구, 장치 없는 검사와 PCB
tests/패키지 경계를 넘는 통합 검사
tools/빌드 출력 정리와 vision 환경 준비 도구

생성물과 실행 원본은 기본적으로 worktree 옆 ../cleany-data/에 둡니다. 사용 가능한 명령은 make help, 실제 옵션은 Makefile, launch, config에서 확인합니다. 문서 변경은 기존 설명에 반영하며, README에는 날짜별 구현 일지를 추가하지 않습니다.

Parts

13
QtyValueFootprintReferences
6JST_XHConnector_JST:JST_XH_S4B-XH-A_1x04_P2.50mm_HorizontalJ_ENC1, J_ENC2, J_ENC3, J_ENC4, J_I2C1, J_I2C2
4JST_XHConnector_JST:JST_XH_S3B-XH-A_1x03_P2.50mm_HorizontalJ_MOTOR1, J_MOTOR2, J_MOTOR3, J_MOTOR4
2JST_XHConnector_JST:JST_XH_S2B-XH-A_1x02_P2.50mm_HorizontalJ1, J2
1ESP32-S3-DevKitCPCM_Espressif:ESP32-S3-DevKitCU1

Questions

How big is the Motor controller PCB?

It measures 78 × 55 mm and has 2 copper layers, 1.6 mm thick.

What parts does the Motor controller use?

13 parts, built around the ESP32-S3-DEVKITC-1-N8. 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 Motor controller KiCad files?

From the asm17-moving-agent/cleany repository on GitHub, at the commit this page was made from: the board is esp32/pcb/motor_controller.kicad_pcb and its schematic esp32/pcb/motor_controller.kicad_sch. PCBKit opens the board in the browser, with nothing to install.

Can I use the Motor controller design in my own project?

Its repository states no licence, so its author keeps all rights: ask asm17-moving-agent before reusing the design.

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