2 layers80 × 34 mm
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2 layers35 × 39 mm
esp32 swarm bots
- Size
- 35 × 39 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 60
- Nets
- 55
- Pads
- 247
- Tracks, vias
- 0, 0
- Routed
- Not yet
- KiCad
- KiCad 10.0 (file 20260206)
- Created
- 10 Aug 2026
- Updated
- 31 Aug 2026
Overview
Nex is an open-source printed circuit board by dialgorithm, from the dialgorithm/nex repository on GitHub. It is a 2-layer board of 35 × 39 mm with 60 parts on 55 nets.
It is built around the ESP32-C3-WROOM-02-N4, DRV8833PWPR and MT3608, with the AP2112K-3.3TRG1, DW01A and STC3100IST among its other parts. Its parts include 18 resistors, 15 capacitors, 8 ICs, 8 diodes and 4 connectors. It belongs with the ESP32 and RISC-V boards of this library.
Main components
9
ESP32-C3-WROOM-02-N4
SMD,20x18mm-105dBm -40℃~+85℃ 2.4GHz 20.5dBm 345mA 3V~3.6V 82mA Bluetooth5.0 ESP32-C3 Chip Integrated Bluetooth function、Support USB interface On-board PCB Antenna UART、SPI、I2C、I2S、JTAG、USB SMD,20x18mm WiFi Modules ROHSEspressif SystemsWiFi Modules
DRV8833PWPR
TSSOP-16-EP-40℃~+85℃ 1.5A 2 2.7V~10.8V 360mΩ Bipolar Driver Yes TSSOP-16-EP Stepper Motor Driver ROHSTexas InstrumentsStepper Motor Driver
MT3608
SOT-23-6-40℃~+85℃ 1 1.2MHz 100uA、1.6mA 2A 2V~24V Adjustable Boost Boost Built-in No SOT-23-6 DC-DC Converters ROHS西安航天民芯DC-DC Converters
AP2112K-3.3TRG1
SOT-25-5-40℃~+85℃@(Ta) 1 250mV@(600mA) 3.3V 50uVrms 55uA 600mA 65dB@(1kHz) 6V Fixed Over Current Protection、Thermal Shutdown、Enable control Positive SOT-25-5 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSDiodes IncorporatedVoltage Regulators - Linear, Low Drop Out (LDO) RegulatorsDW01A
SOT-23-6L-40℃~+85℃ 1 2.5V 300mV~10V 3uA 4.3V Protection IC Support SOT-23-6L Battery Management ROHSPUOLOPBattery Management
STC3100IST
MiniSO-8-40℃~+85℃ 1 2.7V~5.5V 2uA I2C Lithium Battery Monitoring IC Not supported Not supported 欠压锁定 MiniSO-8 Battery Management ROHSSTMicroelectronicsBattery Management
TP4056
ESOP-8-40℃~+85℃ 1 1A 35uA 4.2V 4V~6.5V Charging IC Lithium Battery Support Support 恒流充电、恒压充电、涓流充电、自动再充电、充电终止、可编程充电电流、软启动、欠压锁定 ESOP-8 Battery Management ROHSUMWBattery ManagementFS8205A
SOT-23-6-55℃~+150℃ 1.2V 1.5W 2 N-Channel 20V 31.5mΩ@2.5V 466pF 5.7nC@4.5V 58pF 65pF 6A SOT-23-6 MOSFETs ROHSTECH PUBLICMOSFETs
SS34
SMA(DO-214AC)-55℃~+125℃ 3A 40V 500uA@40V 550mV@3A Independent SMA(DO-214AC) Schottky Diodes ROHSMDDSchottky Diodes
README
README.mdnex
nex is a swarm robotics project built around ESP32-based bots, computer vision, AprilTags, and a custom 4-layer PCB. The goal is to have multiple small bots identify and communicate with each other while working together as a swarm.
it features:
- ESP32-WROOM in each bot for wireless communication
- Luckfox Lyra Zero W for computer vision
- AprilTags for identifying individual bots
- Custom 4-layer PCB designed in KiCad
how it works
each bot has an ESP32-WROOM which handles communication between the bots and provides the wireless connection. Each bot also has its own AprilTag, giving the vision system a way to identify which bot it is looking at.
the Luckfox Lyra Zero W handles the computer vision side. It detects the AprilTags and uses their position and orientation to work out where the other bots are.
this allows the bots to know who is around them and where they are, which forms the basis for the swarm behaviour.
KiCad
the electronics are built around a custom 4-layer PCB, designed to keep the different parts of the bot connected without needing a large amount of external wiring.
| schematic | PCB |
|---|---|
 |  |
| PCB mockup top | PCB mockup bottom |
|---|---|
 |  |
Fusion
the mechanical design and overall bot layout were modelled in Fusion.
| top | side | bottom |
|---|---|---|
 | |  |
BOM
the complete bill of materials is available in bom.csv.
firmware
firmware is not included yet. The software will be added after the physical bots are built and the hardware can be tested and debugged.
Parts
60| Qty | Value | Footprint | References |
|---|---|---|---|
| 7 | 10k | Resistor_SMD:R_1206_3216Metric | R4, R5, R6, R7, R8, R11, R13 |
| 6 | 0.1uF | Capacitor_SMD:C_1206_3216Metric | C8, C9, C10, C11, C12, C13 |
| 3 | 1k | Resistor_SMD:R_1206_3216Metric | R12, R14, R15 |
| 2 | 1uF | Capacitor_SMD:C_1206_3216Metric | C1, C14 |
| 2 | 22uF | Capacitor_SMD:C_1206_3216Metric | C6, C7 |
| 2 | 4.7k | Resistor_SMD:R_1206_3216Metric | R17, R18 |
| 2 | 5.1k | Resistor_SMD:R_1206_3216Metric | R1, R2 |
| 2 | LED | LED_SMD:LED_1206_3216Metric | D7, D8 |
| 1 | 0.01uF | Capacitor_SMD:C_1206_3216Metric | C5 |
| 1 | 1.6k | Resistor_SMD:R_1206_3216Metric | R10 |
| 1 | 100nF | Capacitor_SMD:C_1206_3216Metric | C2 |
| 1 | 10uF | Capacitor_SMD:C_1206_3216Metric | C3 |
| 1 | 11.8k | Resistor_SMD:R_1206_3216Metric | R9 |
| 1 | 2.2uF | Capacitor_SMD:C_1206_3216Metric | C4 |
| 1 | 200k | Resistor_SMD:R_1206_3216Metric | R16 |
| 1 | 220nF | Capacitor_SMD:C_1206_3216Metric | C15 |
| 1 | 30m | Resistor_SMD:R_1206_3216Metric | RCG1 |
| 1 | 4.7uH | Inductor_SMD:L_1210_3225Metric | L1 |
| 1 | 74AHCT1G125W5-7 | 74AHCT1G125W5-7:SOT95P280X140-5N | U7 |
| 1 | 8.2k | Resistor_SMD:R_1206_3216Metric | R3 |
| 1 | AP2112K-3.3TRG1 | AP2112K-3.3TRG1:SOT95P285X140-5N | U3 |
| 1 | BATT_JST | Connector_JST:JST_PH_S2B-PH-K_1x02_P2.00mm_Horizontal | J1 |
| 1 | BOOT | Button_Switch_SMD:SW_SPST_B3U-1000P | SW3 |
| 1 | DRV8833PWPR | DRV8833PWPR:IC_DRV8833PWPR | U5 |
| 1 | DW01A | DW01A:SOT95P280X145-6N | U1 |
| 1 | ESP32-C3-WROOM-02-N4 | ESP32-C3-WROOM-02-N4:MODULE_ESP32-C3-WROOM-02-H4 | U4 |
| 1 | FS8205A | FS8205A:SOP65P640X120-8N | Q1 |
| 1 | MOTOR_A | Connector_JST:JST_PH_S2B-PH-K_1x02_P2.00mm_Horizontal | J3 |
| 1 | MOTOR_B | Connector_JST:JST_PH_S2B-PH-K_1x02_P2.00mm_Horizontal | J4 |
| 1 | MT3608 | MT3608:SOT95P280X145-6N | U6 |
| 1 | RESET | Button_Switch_SMD:SW_SPST_B3U-1000P | SW2 |
| 1 | RGB1 | LED_SMD:LED_WS2812B_PLCC4_5.0x5.0mm_P3.2mm | D2 |
| 1 | RGB2 | LED_SMD:LED_WS2812B_PLCC4_5.0x5.0mm_P3.2mm | D3 |
| 1 | RGB3 | LED_SMD:LED_WS2812B_PLCC4_5.0x5.0mm_P3.2mm | D4 |
| 1 | RGB4 | LED_SMD:LED_WS2812B_PLCC4_5.0x5.0mm_P3.2mm | D5 |
| 1 | RGB5 | LED_SMD:LED_WS2812B_PLCC4_5.0x5.0mm_P3.2mm | D6 |
| 1 | SOC | Button_Switch_SMD:SW_SPST_B3U-1000P | SW4 |
| 1 | SS34 | Diode_SMD:D_SMA | D1 |
| 1 | STC3100IST | STC3100IST:SOIC65P490X110-8N | U8 |
| 1 | SW_SPST | Button_Switch_SMD:SW_DIP_SPSTx01_Slide_6.7x4.1mm_W6.73mm_P2.54mm_LowProfile_JPin | SW1 |
| 1 | TP4056 | TP4056:SOP127P600X175-9N | U2 |
| 1 | USB_C_Receptacle_USB2.0_14P | Connector_USB:USB_C_Receptacle_GCT_USB4105-xx-A_16P_TopMnt_Horizontal | J2 |
Questions
How big is the Nex PCB?
It measures 35 × 39 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Nex use?
60 parts, built around the ESP32-C3-WROOM-02-N4, DRV8833PWPR, MT3608 and AP2112K-3.3TRG1. 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 Nex KiCad files?
From the dialgorithm/nex repository on GitHub, at the commit this page was made from: the board is KiCad/nex.kicad_pcb and its schematic KiCad/nex.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Nex design in my own project?
Its repository states no licence, so its author keeps all rights: ask dialgorithm before reusing the design.
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