FIPATECH/CDFR26_PAMI6Open source firmware and PCB for a differential mobile robot (PAMI) based on ESP32-S3 - Coupe de France de Robotique
PCB Pami is an open-source printed circuit board by FIPATECH, from the FIPATECH/CDFR26_PAMI repository on GitHub. It is a 2-layer board of 119.4 × 98.9 mm with 25 parts on 59 nets, routed with 214 tracks and 0 vias.
It is built around the ESP32-S3-DEVKITC-1-N8, DRV8833PW and MP1584EN, with the SG90 among its other parts. Its parts include 7 ICs, 5 connectors, 4 resistors, 4 switches and 2 capacitors. It belongs with the robots and motor control boards and the ESP32 boards of this library.
Firmware et PCB open source pour robot mobile différentiel basé sur ESP32-S3. Conçu pour la Coupe de France de Robotique (PAMI — Petit actionneur mobile independant).
PAMI/
├── main/ # Firmware ESP-IDF (code source principal)
│ ├── app_main.c
│ ├── robot_config.h # Configuration centralisée (GPIO, PID, WiFi)
│ ├── motion/ # Contrôle mouvement (cmd_vel, waypoints)
│ ├── localization/ # Odométrie + fusion IMU
│ ├── drivers/ # Moteurs, encodeurs, capteurs
│ ├── sensors/ # IMU, ToF
│ ├── net/ # WiFi AP, HTTP server
│ ├── ws/ # WebSocket (logs, télémétrie)
│ ├── mission/ # Séquences de waypoints
│ ├── config/ # Configuration persistante (NVS)
│ └── ota/ # Mise à jour Over-The-Air
├── components/ # Composants ESP-IDF
│ └── icm20948/ # Driver ICM-20948 (IMU 9 axes)
├── hardware/
│ └── PCB_Pami_V2/ # PCB KiCad 9 (auto-suffisant)
│ ├── PCB_Pami.kicad_pcb
│ ├── PCB_Pami.kicad_sch
│ ├── footprints/ # Empreintes non-standard incluses
│ └── symbols/ # Symboles non-standard inclus
├── tools/ # Outils Python
│ ├── robot_gui.py # GUI de contrôle et mission planner
│ ├── robot_client.py # Client REST/WebSocketLa conception mécanique 3D est disponible sur OnShape : OnShape
# Prérequis : ESP-IDF v5.x installé (ou utiliser le devcontainer)
idf.py build
idf.py -p /dev/ttyUSB0 flash monitorConfiguration dans main/robot_config.h :
#define WIFI_SSID "Robot-ESP32"
#define WIFI_PASS "robot123"
#define WHEEL_DIAMETER_CM 6.43
#define WHEEL_BASE_CM 13.34cd tools
pip install -r requirements.txt
python robot_gui.py # GUI complet
python waypoint_editor.py # Éditeur de missionsDocumentation complète : docs/GUIDE_ROBOT.md
Le dossier hardware/PCB_Pami_V2/ est auto-suffisant : toutes les empreintes et symboles non-standard sont inclus. Ouvrir directement PCB_Pami.kicad_pro dans KiCad 9.
| Composant | Rôle |
|---|---|
| ESP32-S3-DevKitC | Microcontrôleur principal (dual-core, WiFi) |
| DRV8833 | Driver moteurs DC (2 canaux) |
| ICM-20948 | IMU 9 axes (gyro + accéléro + magnéto) |
| VL53L0X | Capteur distance ToF (détection obstacles) |
| TCS34725 | Capteur couleur (détection ligne/zone) |
| SSD1306 | Afficheur OLED 128x64 |
| MP1584EN | Convertisseur DC-DC 5V → 3.3V |
| SG90 | Servomoteur (mécanisme de jeu) |
| Signal | GPIO |
|---|---|
| MOTOR_LEFT_IN1 | 2 |
| MOTOR_LEFT_IN2 | 1 |
| MOTOR_RIGHT_IN3 | 9 |
| MOTOR_RIGHT_IN4 | 8 |
| ENCODER_LEFT_A/B | 11/10 |
| ENCODER_RIGHT_A/B | 13/12 |
| I2C SDA/SCL | 7/6 |
Base URL : http://192.168.4.1/api/v1
| Endpoint | Méthode | Description |
|---|---|---|
/cmd_vel | POST | Commande vitesse {v, w, timeout_ms} |
/motion/stop | POST | Arrêt immédiat |
/pose | GET | Pose courante {x, y, theta} |
/pose/reset | POST | Réinitialise la pose |
/imu/calibrate | POST | Calibration gyroscope |
/ota/update | POST | Mise à jour firmware OTA |
/ws/telemetry | WS | Télémétrie temps réel (stub, non implémenté) |
/ws/logs | WS | Logs temps réel (stub, non implémenté) |
Un environnement de développement Docker est disponible dans .devcontainer/ avec ESP-IDF pré-installé. Compatible VS Code (extension Dev Containers).
Ce projet est distribué sous licence GNU GPL v3 — les modifications et améliorations doivent rester open source.
Voir LICENSE pour les détails.
| Qty | Value | Footprint | References |
|---|---|---|---|
| 4 | 4.7k | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R1, R2, R3, R4 |
| 3 | SW_Push | Button_Switch_THT:SW_PUSH_6mm_H13mm | SW1, SW2, SW3 |
| 1 | 100uF | Capacitor_THT:CP_Radial_D5.0mm_P2.00mm | C1 |
| 1 | 470uF | Capacitor_THT:CP_Radial_D6.3mm_P2.50mm | C2 |
| 1 | BATT | Connector_JST:JST_XH_B2B-XH-A_1x02_P2.50mm_Vertical | J5 |
| 1 | DRV8833 | custom:DRV8833 | U7 |
| 1 | ESP32-S3-DevKitC | PCM_Espressif:ESP32-S3-DevKitC | U1 |
| 1 | LH_Motor | Connector_JST:JST_XH_B2B-XH-A_1x02_P2.50mm_Vertical | J3 |
| 1 | LH_Odom | Connector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical | J1 |
| 1 | LOGO | logo:yetinegv2.16mm | G*** |
| 1 | LOGO | logo:yetinegv2.12mm | G*** |
| 1 | MP1584EN | MP1584EN:SRT_MPT1584EN_Module | MP1584EN2 |
| 1 | RH_Motor | Connector_JST:JST_XH_B2B-XH-A_1x02_P2.50mm_Vertical | J4 |
| 1 | RH_Odom | Connector_JST:JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical | J2 |
| 1 | SG90 | custom:SG90 | U6 |
| 1 | SSD1306 | SSD1306:128x64OLED | U4 |
| 1 | SW_Slide_DPDT | custom:SW_DPDT_XLX | SW4 |
| 1 | module_tcs34725 | usini_sensors:module_tcs34725 | U5 |
| 1 | module_vl53L0x-v2 | usini_sensors:module_vl53l0x | U3 |
| 1 | ~ | SparkFun-ICM-20948:SparkFun-ICM-20948 | U2 |
It measures 119.4 × 98.9 mm and has 2 copper layers, 1.6 mm thick.
25 parts, built around the ESP32-S3-DEVKITC-1-N8, DRV8833PW, MP1584EN and SG90. 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.
From the FIPATECH/CDFR26_PAMI repository on GitHub, at the commit this page was made from: the board is hardware/PCB_Pami_V2/PCB_Pami.kicad_pcb and its schematic hardware/PCB_Pami_V2/PCB_Pami.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Its repository states no licence, so its author keeps all rights: ask FIPATECH before reusing the design.
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