2 layers82.5 × 73 mm
FABRICATION
HABBOUBY/MONGEYA_
Autonomous cleaning station with waste sorting robot ,built for Hack Club Beest.
25 parts2MIT
2 layers64 × 78 mm
Actuator board
ieb/autopilotAn ML Autopilot designed and written almost entirely by Google AntiGravity.
- Size
- 64 × 78 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 37
- Nets
- 28
- Pads
- 112
- Tracks, vias
- 222, 18
- Pours
- 4
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 19 Jan 2026
- Updated
- 10 Apr 2026
Overview
Actuator board is an open-source printed circuit board by ieb, from the ieb/autopilot repository on GitHub. It is a 2-layer board of 64 × 78 mm with 37 parts on 28 nets, routed with 222 tracks and 18 vias.
It is built around the ATTINY3224-SSU, BTN7960B and AMS1117-3.3, with the US1J, IRF540N and SS34 among its other parts. Its parts include 12 resistors, 6 connectors, 5 capacitors, 4 diodes and 3 transistors. It belongs with the robots and motor control boards and the AVR (ATmega, ATtiny) boards of this library.
Main components
6
ATTINY3224-SSU
SOIC-14-40℃~+85℃ 1.8V~5.5V 12 12bit 20MHz 256Byte 32KB 3KB 8 Bit AVR Built-in FLASH SOIC-14 Microcontrollers (MCU/MPU/SOC) ROHSMicrochip TechnologyMicrocontrollers (MCU/MPU/SOC)
BTN7960B
TO-263-7-40℃~+150℃ 16mΩ Interleaved conduction protection、Current sensing/regulation function、Soft switching Yes TO-263-7 Brushed DC Motor Drivers ROHSInfineon TechnologiesBrushed DC Motor Drivers
AMS1117-3.3
SOT-223-40℃~+125℃ 0.003%Vout 1 1.1V@(800mA) 15V 1A 3.3V 5mA 72dB@(120Hz) Fixed Over Current Protection、Short Circuit Protection、Thermal shutdown Positive SOT-223 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSAdvanced Monolithic SystemsVoltage Regulators - Linear, Low Drop Out (LDO) Regulators
US1J
DO-214AC(SMA)-65℃~+150℃ 1.7V@1A 1A 30A 5uA@600V 600V 75ns DO-214AC(SMA) Fast Recovery / High Efficiency Diodes ROHSGuangdong HottechFast Recovery / High Efficiency Diodes
IRF540N
TO-2201 N-channel 1.35nF 100V 130W 280pF 33A 35mΩ@10V 4V 52nC@10V 85pF N-Channel TO-220 MOSFETs ROHSOSENMOSFETsSS34
SMA(DO-214AC)-55℃~+125℃ 3A 40V 500uA@40V 550mV@3A Independent SMA(DO-214AC) Schottky Diodes ROHSMDDSchottky Diodes
README
hardware/actuator-board/README.mdActuator Controller Board
- Rudder position from pot and ADC
- HBridge Rgiving the ram
- INS 219 current sensor
- 2x PWM HBridge drive
- ElectroMagnetic Clutch using Mosfet
- Serial interface to Raspberry Pi
- Motor current monitoring
- Voltage monitoring
Schematic
Open actuator-board.kicad_sch in KiCad 9 for the full schematic with design notes.
Unfortunately Cursor failed to create a viable schematic, loads of halucinations, pins that didnt exist, and although KiCad files are text, all it did was copy text into the file which displayed as text. Models tried Gemini 3 adn Claud Opus 4.5. Neither produced a viable design.
Parts
37| Qty | Value | Footprint | References |
|---|---|---|---|
| 5 | 1K | Resistor_SMD:R_0805_2012Metric | R4, R5, R6, R9, R12 |
| 4 | 10K | Resistor_SMD:R_0805_2012Metric | R7, R8, R10, R11 |
| 2 | 10uF | Capacitor_SMD:C_0805_2012Metric | C2, C4 |
| 2 | 470nF | Capacitor_SMD:C_0805_2012Metric | C3, C5 |
| 2 | US1J | Diode_SMD:D_SMA | D2, D3 |
| 1 | 100R | Resistor_SMD:R_0805_2012Metric | R2 |
| 1 | 100nF | Capacitor_SMD:C_0805_2012Metric | C1 |
| 1 | 12V | TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-2-5.08_1x02_P5.08mm_Horizontal | J2 |
| 1 | 30A | Fuse:Fuse_Blade_ATO_directSolder | F2 |
| 1 | 470R | Resistor_SMD:R_0805_2012Metric | R1 |
| 1 | 4K7 | Resistor_SMD:R_0805_2012Metric | R3 |
| 1 | AMS1117-3.3 | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | U3 |
| 1 | ATtiny3224-SS | Package_SO:SOIC-14_3.9x8.7mm_P1.27mm | U2 |
| 1 | BTN7960 | Package_TO_SOT_SMD:TO-263-7_TabPin8 | Q3 |
| 1 | BTN7960TA | Package_TO_SOT_SMD:TO-263-7_TabPin8 | Q2 |
| 1 | Clutch | TerminalBlock_Phoenix:TerminalBlock_Phoenix_MPT-0,5-2-2.54_1x02_P2.54mm_Horizontal | J5 |
| 1 | IRF540N | Package_TO_SOT_THT:TO-220-3_Vertical | Q1 |
| 1 | LED | Capacitor_SMD:C_0805_2012Metric | D4 |
| 1 | Motor | TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-2-5.08_1x02_P5.08mm_Horizontal | J3 |
| 1 | RudderSense | TerminalBlock_Phoenix:TerminalBlock_Phoenix_MPT-0,5-3-2.54_1x03_P2.54mm_Horizontal | J1 |
| 1 | SS34 | Diode_SMD:D_SMA | D1 |
| 1 | SerialToPi | Connector_JST:JST_XH_B3B-XH-AM_1x03_P2.50mm_Vertical | J7 |
| 1 | UDPI | Connector_PinHeader_1.00mm:PinHeader_1x01_P1.00mm_Vertical | J4 |
The 33 most common of 37 parts.
Questions
How big is the Actuator board PCB?
It measures 64 × 78 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Actuator board use?
37 parts, built around the ATTINY3224-SSU, BTN7960B, AMS1117-3.3 and US1J. 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 Actuator board KiCad files?
From the ieb/autopilot repository on GitHub, at the commit this page was made from: the board is hardware/actuator-board/actuator-board.kicad_pcb and its schematic hardware/actuator-board/actuator-board.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Actuator board design in my own project?
Its repository states no licence, so its author keeps all rights: ask ieb before reusing the design.
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