2 layers83.8 × 63.5 mm
2 layers83.5 × 93.3 mm
Line follower
bluecube/line_follower3Simple line follower robot
- Size
- 83.5 × 93.3 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 48
- Nets
- 37
- Pads
- 213
- Tracks, vias
- 455, 36
- Pours
- 2
- Routed
- Yes
- KiCad
- KiCad 5 (file 20171130)
- Created
- 27 Apr 2019
- Updated
- 1 Aug 2026
Overview
Line follower is an open-source printed circuit board by bluecube, from the bluecube/line_follower repository on GitHub, published under the Unlicense licence. It is a 2-layer board of 83.5 × 93.3 mm with 48 parts on 37 nets, routed with 455 tracks and 36 vias.
It is built around the LF50CDT-TR, APT2012EC and XT30PW-M. Its parts include 11 capacitors, 7 resistors, 6 diodes, 5 transistors and 3 ICs. It belongs with the robots and motor control boards and the ESP32 boards of this library.
Main components
3
LF50CDT-TR
DPAK-40℃~+125℃@(Tj) 1 16V 400mV@(500mA) 500mA 500uA 50uV 5V 76dB@(120Hz) Fixed Over Current Protection、Over Temperature Protection Positive DPAK Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSSTMicroelectronicsVoltage Regulators - Linear, Low Drop Out (LDO) Regulators
APT2012EC
0805-40℃~+85℃ 160° 20mA 2V 617nm 627nm 75mW 8mcd Discrete Diode Red Water Clear 0805 LED Indication - Discrete ROHSKingbrightLED Indication - Discrete
XT30PW-M
-- Power connector / plug connector ROHSChangzhou Amass ElecUncategorised
README
README.mdLine follower v2
This is a robot I made to tinker with and to compete in the Robotic Day competition. (Actually the original goal was Robotic Day 2016, but stuff got delayed :) )
The design is an attempt to make a line follower with minimum effort on the hardware side and maximum versatility on the software side.
The robot body consists of a 8cm x 10cm double sided PCB, two geared N20 DC encoder motors with Pololu wheels and magnetic encoders and a few 3D printed bits. The most important electronic components are ESP32 development board for computing power and line sensor inspired by Ondřej Staněk's PocketBot, as a bonus the robot also carries an IR range sensor and MPU 6050 breakout board (accelerometer and gyro).
This repository should contain everything necessary to build and run the robot in the competition. Let me know if you decide to build it!
This is a v2, you can also check out the v1.
Parts
48| Qty | Value | Footprint | References |
|---|---|---|---|
| 8 | 100nF | Capacitor_SMD:C_0805_2012Metric_Pad1.15x1.40mm_HandSolder | C1, C2, C3, C4, C5, C6, C7, C10 |
| 6 | APT2012EC | LED_SMD:LED_0805_2012Metric_Pad1.15x1.40mm_HandSolder | D1, D2, D3, D4, D5, D6 |
| 5 | 5k6 | Resistor_SMD:R_0805_2012Metric_Pad1.15x1.40mm_HandSolder | R1, R2, R3, R4, R5 |
| 5 | ALS-PT19-315C_L177_TR8 | cube-library:phototransistor-1.7mm | Q1, Q2, Q3, Q4, Q5 |
| 5 | MountingHole | MountingHole:MountingHole_3.2mm_M3 | H1, H2, H3, H4, H5 |
| 4 | Heatsink_Pad | cube-library:3x3_thermal_vias | HS1, HS2, HS3, HS4 |
| 2 | 100uF, 25V | Capacitor_SMD:CP_Elec_6.3x5.8 | C8, C9 |
| 2 | A4950E | cube-library:SOIC-8-1EP_3.9x4.9mm_P1.27mm_EP2.41x3.3mm_HandSolder | U1, U2 |
| 2 | MOTOR_ENC | cube-library:SolderWirePad2x3_p2.54_staggered | M1, M2 |
| 1 | 15k | Resistor_SMD:R_0805_2012Metric_Pad1.15x1.40mm_HandSolder | R7 |
| 1 | 22uF | Capacitor_SMD:C_0805_2012Metric_Pad1.15x1.40mm_HandSolder | C11 |
| 1 | 82k | Resistor_SMD:R_0805_2012Metric_Pad1.15x1.40mm_HandSolder | R6 |
| 1 | DISTANCE_SENSOR | cube-library:SolderWirePad1x3_p2.54 | X3 |
| 1 | ESP32_DEVKITV1 | cube-library:ESP32_DEVKITV1 | X1 |
| 1 | GY-521-module | cube-library:GY-521-module | X2 |
| 1 | LF50CDT | Package_TO_SOT_SMD:TO-252-2 | U3 |
| 1 | SW_Push | cube-library:4.5mm_tact_switch | SW1 |
| 1 | XT30PW-M | cube-library:XT30PW-M | J1 |
Questions
How big is the Line follower PCB?
It measures 83.5 × 93.3 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Line follower use?
48 parts, built around the LF50CDT-TR, APT2012EC and XT30PW-M. 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 follower KiCad files?
From the bluecube/line_follower repository on GitHub, at the commit this page was made from: the board is kicad/line_follower.kicad_pcb. PCBKit opens the board in the browser, with nothing to install.
Can I use the Line follower design in my own project?
Its repository publishes it under the Unlicense 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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