4 layers72.5 × 85.4 mm
4 layers88.7 × 49.5 mm
Equilibot
benjibst/equilibotSelf balancing robot with stepper motors and TMC5240 drivers
- Size
- 88.7 × 49.5 mm
- Copper layers
- 4
- Thickness
- 1.61 mm
- Parts
- 153
- Nets
- 129
- Pads
- 654
- Tracks, vias
- 975, 384
- Pours
- 4
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 12 Nov 2025
- Updated
- 29 Aug 2026
Overview
Equilibot is an open-source printed circuit board by benjibst, from the benjibst/equilibot repository on GitHub. It is a 4-layer board of 88.7 × 49.5 mm with 153 parts on 129 nets, routed with 975 tracks and 384 vias.
It is built around the ESP32-S3-WROOM-1-N8, TMC5240AUU+ and SN74LVC1T45DBV, with the TLV75533PDBV, USBLC6-2P6 and WS2812B among its other parts. Its parts include 57 capacitors, 34 diodes, 22 resistors, 8 ICs and 7 connectors. It belongs with the robots and motor control boards and the ESP32 boards of this library.
Main components
7
ESP32-S3-WROOM-1-N8
SMD,25.5x18mm-40℃~+85℃ -98.2dBm 2.4GHz 20.5dBm 355mA 3V~3.6V 95mA Bluetooth5.0 ESP32-S3 Chip On-board PCB Antenna UART、SPI、I2C、I2S、USB SMD,25.5x18mm WiFi Modules ROHSEspressif SystemsWiFi ModulesTMC5240AUU+
TSSOP-38-EPTSSOP-38-EP Stepper Motor Driver ROHSTRINAMIC Motion Control GmbHStepper Motor Driver
SN74LVC1T45DBV
SOT-23-6-40℃~+85℃ 1 1 1.65V~5.5V 1.65V~5.5V 420Mbps Bidirectional Tri-State SOT-23-6 Translators, Level Shifters ROHSTexas InstrumentsTranslators, Level Shifters
TLV75533PDBV
SOT-23-5-40℃~+125℃@(Tj) 1 238mV@(500mA) 25uA 3.3V 46dB@(100kHz) 5.5V 500mA 71.5uVrms Fixed Over Current Protection、Thermal Shutdown、Input undervoltage protection Positive SOT-23-5 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSTexas InstrumentsVoltage Regulators - Linear, Low Drop Out (LDO) Regulators
USBLC6-2P6
SOT-666-6-40℃~+125℃ 150nA 17V 2 3.5pF 5.25V 5A@8/20us 6V ESD IEC 61000-4-2 Unidirectional SOT-666-6 ESD and Surge Protection (TVS/ESD) ROHSSTMicroelectronicsESD And Surge Protection (TVS/ESD)
WS2812B
5mm X 5mm Surface Mount RGB LED with Intelligent ControlWorldsemiUncategorised
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
Parts
153| Qty | Value | Footprint | References |
|---|---|---|---|
| 31 | WS2812B | Equilibot:XL_WS2812B_0807 | D1, D2, D10, D11, D12, D13, D14, D15, D16, D17, D18, D19, D20, D21, D22, D23 +15 |
| 16 | 220n | Capacitor_SMD:C_0603_1608Metric | C1, C2, C3, C4, C6, C12, C13, C14, C23, C24, C26, C30, C35, C53, C62, C63 |
| 11 | TestPoint | Equilibot:TestPoint_Pad_1.0x1.0mm | TP8, TP11, TP12, TP13, TP14, TP15, TP16, TP17, TP18, TP19, TP20 |
| 10 | 22u | Capacitor_SMD:C_1206_3216Metric | C11, C22, C54, C55, C56, C57, C58, C59, C60, C61 |
| 9 | TestPoint | TestPoint:TestPoint_Pad_D1.0mm | TP1, TP2, TP3, TP4, TP5, TP6, TP7, TP9, TP10 |
| 8 | 470p | Capacitor_SMD:C_0603_1608Metric | C7, C8, C9, C10, C18, C19, C20, C21 |
| 7 | 100n | Capacitor_SMD:C_0603_1608Metric | C32, C37, C39, C40, C41, C42, C48 |
| 5 | 2.2u | Capacitor_SMD:C_0805_2012Metric | C5, C17, C34, C51, C52 |
| 5 | 5.6k | Resistor_SMD:R_0603_1608Metric | R2, R3, R6, R9, R12 |
| 3 | LED_Small | LED_SMD:LED_0603_1608Metric | D32, D33, D34 |
| 2 | 100 | Resistor_SMD:R_0603_1608Metric | R1, R4 |
| 2 | 100k | Resistor_SMD:R_0603_1608Metric | R13, R17 |
| 2 | 10u | Capacitor_SMD:C_0603_1608Metric | C27, C64 |
| 2 | 13k | Resistor_SMD:R_0603_1608Metric | R10, R16 |
| 2 | 1u | Capacitor_SMD:C_0805_2012Metric | C15, C28 |
| 2 | 22n | Capacitor_SMD:C_0603_1608Metric | C16, C29 |
| 2 | 22u | Capacitor_SMD:C_0805_2012Metric | C31, C36 |
| 2 | 3.3u | Inductor_SMD:L_1008_2520Metric | L1, L2 |
| 2 | 30k | Resistor_SMD:R_0603_1608Metric | R15, R19 |
| 2 | 3k | Resistor_SMD:R_0603_1608Metric | R7, R11 |
| 2 | 47p | Capacitor_SMD:C_0603_1608Metric | C33, C38 |
| 2 | 5.1k | Resistor_SMD:R_0603_1608Metric | R20, R21 |
| 2 | Conn_01x04_Pin | Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical | J3, J4 |
| 2 | Conn_01x08_Pin | Connector_PinSocket_2.54mm:PinSocket_2x04_P2.54mm_Vertical | J7, J8 |
| 2 | SW_Push | Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical | SW1, SW2 |
| 2 | TMC5240 | Equilibot:TMC5240 | IC1, IC2 |
| 2 | TPS561243DRLR | TPS561243:SOTFL50P160X60-6N | IC3, IC4 |
| 1 | 10k | Resistor_SMD:R_0603_1608Metric | R8 |
| 1 | 12k | Resistor_SMD:R_0603_1608Metric | R5 |
| 1 | 135k | Resistor_SMD:R_0603_1608Metric | R14 |
| 1 | 1k | Resistor_SMD:R_0603_1608Metric | R22 |
| 1 | 220k | Resistor_SMD:R_0603_1608Metric | R18 |
| 1 | 470u | Capacitor_THT:C_Radial_D10.0mm_H16.0mm_P5.00mm | C25 |
| 1 | Conn_01x02_Socket | Equilibot:AMASS_XT60PW-M_1x02_P7.20mm_Horizontal | J1 |
| 1 | Conn_01x03_Pin | Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical | J5 |
| 1 | ESP32-S3-WROOM-1 | Equilibot:ESP32-S3-WROOM-1 | U1 |
| 1 | ICM-42670-P | Equilibot:XDCR_ICM-42670-P | MT1 |
| 1 | SN74LVC1T45DBV | Package_TO_SOT_SMD:SOT-23-6 | U2 |
| 1 | TLV75533PDBV | Package_TO_SOT_SMD:SOT-23-5 | U4 |
| 1 | USBLC6-2P6 | Package_TO_SOT_SMD:SOT-666 | U3 |
| 1 | USB_C_Receptacle_USB2.0_16P | Equilibot:USB_C_Receptacle_GCT_USB4105-xx-A_16P_TopMnt_Horizontal | J2 |
Questions
How big is the Equilibot PCB?
It measures 88.7 × 49.5 mm and has 4 copper layers, 1.61 mm thick.
What parts does the Equilibot use?
153 parts, built around the ESP32-S3-WROOM-1-N8, TMC5240AUU+, SN74LVC1T45DBV and TLV75533PDBV. 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 Equilibot KiCad files?
From the benjibst/equilibot repository on GitHub, at the commit this page was made from: the board is pcb/equilibot.kicad_pcb and its schematic pcb/equilibot.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Equilibot design in my own project?
Its repository states no licence, so its author keeps all rights: ask benjibst before reusing the design.
Similar boards
- 4 layers160 × 102.8 mm
- 4 layers108.6 × 87.7 mm
Blinky badge light
rowr111/blinky-badge-light
lighting badge with unique patterns and sound reactivity
123 parts9MIT - 4 layers
- 4 layers160 × 100 mm
- 4 layers50 × 50 mm
LFX FC R2
nguyencanhanh/luckfox-rv1103-drone
AI quadcopter on one RV1103 (Luckfox Pico Mini B): Linux + RISC-V MCU flight loop, SITL with 3D pilot view, KiCad flight-controller board
142 partsMIT - 2 layers62.2 × 25.4 mm
- 4 layers166.1 × 91.4 mm
Venturi MainPCB
David207025/Venturi
Highly optimized line follower robot controlled by the ESP32-S31-WROOM-3 module
114 parts