GreatMesa/Servo-ESCCustom 4-Layer Boards for better servo control.
Servo ESC is an open-source printed circuit board by GreatMesa, from the GreatMesa/Servo-ESC repository on GitHub, published under the MIT licence. It is a 4-layer board of 38.4 × 18.4 mm with 43 parts on 55 nets, routed with 319 tracks and 97 vias.
It is built around the INA236AIDDFR and AP2112K-3.3. Its parts include 16 capacitors, 13 resistors, 5 ICs, 5 connectors and 2 diodes. It belongs with the robots and motor control boards and the STM32 boards of this library.
Custom 4-Layer Board for better servo control. Mainly uses I2C for IC communication & the analog pheripherials on the STM32F301
This project stems from the want to replace the boards that normally control position on commercial servos.
The reason why I wanted to replace them is because 1, you can only control the position of the servo motors and not the velocity, let alone the torque. Also, you cannot get any useful feedback back from the servos, which means that you cannot get the current or temperature of the board, which could be useful for looking at possible faults / seeing the current overall power consumption.
With these Servo ESC's, you can communicate to the board using I2C, which allows to send the wanted position, velocity, and torque, while also communicating back the current position, velocity, torque, power consumption, and board temperature. This allows for a much higher view into what is happening in the board while also giving the servo greater precision.
| Qty | Value | Footprint | References |
|---|---|---|---|
| 7 | 100nF | Capacitor_SMD:C_0402_1005Metric | C1, C2, C3, C4, C9, C10, C15 |
| 4 | 4.7k | Resistor_SMD:R_0402_1005Metric | R5, R6, R12, R13 |
| 3 | 1uF | Capacitor_SMD:C_0402_1005Metric | C6, C8, C12 |
| 3 | 220 | Resistor_SMD:R_0402_1005Metric | R2, R3, R4 |
| 2 | 10k | Resistor_SMD:R_0402_1005Metric | R1, R10 |
| 2 | 30pF | Capacitor_SMD:C_0402_1005Metric | C13, C14 |
| 2 | Conn_01x04_Pin | Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical | J2, J4 |
| 1 | + | Connector_Wire:SolderWire-0.1sqmm_1x01_D0.4mm_OD1mm | J5 |
| 1 | - | Connector_Wire:SolderWire-0.1sqmm_1x01_D0.4mm_OD1mm | J6 |
| 1 | 0.01 | Resistor_SMD:R_1206_3216Metric | R11 |
| 1 | 10nF | Capacitor_SMD:C_0402_1005Metric | C16 |
| 1 | 1k | Resistor_SMD:R_0402_1005Metric | R7 |
| 1 | 22nF | Capacitor_SMD:C_0402_1005Metric | C7 |
| 1 | 22uF | Capacitor_THT:CP_Radial_D4.0mm_P1.50mm | C11 |
| 1 | 25MHZ | Crystal:Crystal_SMD_3225-4Pin_3.2x2.5mm | Y1 |
| 1 | 4.7uF | Capacitor_SMD:C_0603_1608Metric | C5 |
| 1 | 62k | Resistor_SMD:R_0402_1005Metric | R8 |
| 1 | 8.25k | Resistor_SMD:R_0402_1005Metric | R9 |
| 1 | AP2112K | Custom-Footprints:SOT95P285X140-5N | IC1 |
| 1 | Conn_01x04_Pin | Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Horizontal | J1 |
| 1 | DRV8876PWPR | Custom-Footprints:SOP65P640X120-17N | IC2 |
| 1 | FerriteBead | Inductor_SMD:L_0603_1608Metric | FB1 |
| 1 | INA236AIDDFR | Custom-Footprints:SOP65P280X110-8N | IC5 |
| 1 | LED | LED_SMD:LED_0603_1608Metric | D1 |
| 1 | STM32F301C8Tx | Package_QFP:LQFP-48_7x7mm_P0.5mm | U1 |
| 1 | TMP102xxDRL | Package_TO_SOT_SMD:SOT-563 | IC4 |
| 1 | ~ | Custom-Footprints:Untitled_1 | LED1 |
It measures 38.4 × 18.4 mm and has 4 copper layers, 1.6 mm thick.
43 parts, built around the INA236AIDDFR and AP2112K-3.3. 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 GreatMesa/Servo-ESC repository on GitHub, at the commit this page was made from: the board is Hardware/SERVO-ESC/SERVO-ESC.kicad_pcb and its schematic Hardware/SERVO-ESC/SERVO-ESC-backups/SERVO-ESC-2025-12-13_133519/SERVO-ESC.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Its repository publishes it under the MIT 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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