4 layers43.2 × 43.2 mm
4 layers38.9 × 39.2 mm
Slam
grimsteel/slamProject progress: - [x] SLAM implementation (theoretical) - [x] Robot w/ lidar - [x] Dead reckoning - [x] Linear motion model - [x] Landmark detection (LiDAR) - [ ] STM EKF filter - [ ] STM EKF-SLAM (& landmark storage)
- Size
- 38.9 × 39.2 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 64
- Nets
- 89
- Pads
- 273
- Tracks, vias
- 601, 117
- Pours
- 10
- Routed
- Yes
- KiCad
- KiCad 10.0 (file 20260206)
- Created
- 19 Jul 2026
- Updated
- 23 Oct 2026
Overview
Slam is an open-source printed circuit board by grimsteel, from the grimsteel/slam repository on GitHub. It is a 4-layer board of 38.9 × 39.2 mm with 64 parts on 89 nets, routed with 601 tracks and 117 vias.
It is built around the DRV8833PWP, HYCW110-TF10-180B and TLV1117-33DCY, with the 1N5819WS and AO3400A among its other parts. Its parts include 20 capacitors, 17 resistors, 11 connectors, 5 ICs and 4 diodes. It belongs with the STM32 boards of this library.
Main components
5
DRV8833PWP
ETSSOP-16-EP-40℃~+85℃ 1.5A 2 2.7V~10.8V 2.7V~10.8V 360mΩ Bipolar Driver Overcurrent Protection、Short-Circuit Protection、Over temperature protection、Under-voltage lockout、Dead-time / shoot-through protection Yes ETSSOP-16-EP Stepper Motor Driver ROHSTexas InstrumentsStepper Motor Driver
HYCW110-TF10-180B
SMD-20℃~+60℃ 2mm Connector and Ejector MicroSD Card (TF Card) Push-Pull Yes SMD SD Card / Memory Card Connector ROHSHOAUCSD Card / Memory Card ConnectorTLV1117-33DCY
UncategorisedTexas Instruments
1N5819WS
SOD-3231 Independent 1A 25A 40V 500uA@40V 600mV@1A SOD-323 Schottky Diodes ROHSGuangdong HottechSchottky Diodes
AO3400A
SOT-23-55℃~+150℃ 1 N-channel 1.45V 1.4W 30V 48mΩ@2.5V 5.7A 50pF 630pF 75pF 7nC@10V N-Channel SOT-23 MOSFETs ROHSAlpha & Omega SemiconductorMOSFETs
README
README.mdSLAM
EKF-SLAM on an STM32
Project progress:
- SLAM implementation (theoretical)
- Robot w/ lidar
- Dead reckoning
- Linear motion model
- Landmark detection (LiDAR)
- STM EKF filter
- STM EKF-SLAM (& landmark storage)
Parts
64| Qty | Value | Footprint | References |
|---|---|---|---|
| 10 | 10k | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R1, R2, R8, R11, R12, R13, R14, R15, R16, R17 |
| 9 | 100nF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C1, C2, C3, C4, C5, C11, C16, C18, C20 |
| 8 | 10uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C7, C8, C12, C13, C14, C15, C17, C19 |
| 4 | 0.2 | Resistor_SMD:R_1206_3216Metric_Pad1.30x1.75mm_HandSolder | R5, R6, R9, R10 |
| 4 | Conn_01x02_Pin | Connector_Wire:SolderWire-0.15sqmm_1x02_P4mm_D0.5mm_OD1.5mm | J4, J5, J7, J8 |
| 2 | 1N5819WS | Diode_SMD:D_SOD-123 | D1, D2 |
| 2 | 5K1 | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R3, R4 |
| 2 | 8pF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C6, C9 |
| 2 | Conn_01x02_Pin | Connector_JST:JST_PH_B2B-PH-K_1x02_P2.00mm_Vertical | J1, J6 |
| 2 | DRV8833PWP | Package_SO:HTSSOP-16-1EP_4.4x5mm_P0.65mm_EP3.4x5mm_Mask2.46x2.31mm | U3, U4 |
| 2 | LED | LED_SMD:LED_0805_2012Metric | D3, D4 |
| 2 | MountingHole | MountingHole:MountingHole_2.2mm_M2 | H1, H2 |
| 2 | SW_Push | lcsc:SW-SMD_L4.0-W2.9-LS5.0 | SW1, SW2 |
| 1 | 2.2uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C10 |
| 1 | 220 | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R7 |
| 1 | 25 MHz | Crystal:Crystal_SMD_3225-4Pin_3.2x2.5mm_HandSoldering | Y1 |
| 1 | 600@100MHz | Inductor_SMD:L_0603_1608Metric_Pad1.05x0.95mm_HandSolder | L1 |
| 1 | AO3400A | Package_TO_SOT_SMD:SOT-23_Handsoldering | Q1 |
| 1 | Conn_01x04_Socket | Connector_JST:JST_PH_B4B-PH-K_1x04_P2.00mm_Vertical | J9 |
| 1 | Conn_01x06_Socket | Connector_PinSocket_2.54mm:PinSocket_1x06_P2.54mm_Vertical | J10 |
| 1 | Conn_01x08_Pin | Connector_PinHeader_2.54mm:PinHeader_1x08_P2.54mm_Vertical | J11 |
| 1 | Conn_02x02_Odd_Even | Connector_PinHeader_2.54mm:PinHeader_2x02_P2.54mm_Vertical | J2 |
| 1 | HYCW110-TF10-180B | lcsc:SIM-SMD_HYCW110-TF10-180B | U5 |
| 1 | STM32F401RETx | Package_QFP:LQFP-64_10x10mm_P0.5mm | U1 |
| 1 | TLV1117-33 | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | U2 |
| 1 | USB_C_Receptacle_USB2.0_16P | lcsc:USB-C-SMD_SHOU_TYPE-C-16P-CB1.6 | J3 |
Questions
How big is the Slam PCB?
It measures 38.9 × 39.2 mm and has 4 copper layers, 1.6 mm thick.
What parts does the Slam use?
64 parts, built around the DRV8833PWP, HYCW110-TF10-180B, TLV1117-33DCY and 1N5819WS. 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 Slam KiCad files?
From the grimsteel/slam repository on GitHub, at the commit this page was made from: the board is pcb/slam.kicad_pcb and its schematic pcb/motors.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Slam design in my own project?
Its repository states no licence, so its author keeps all rights: ask grimsteel before reusing the design.
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