Skip to the content
PCBKitNew board
2 layers72.1 × 79.3 mmSelfStandingRobot, the printed circuit board in 3D

Self-balancing two-wheeled robot powered by an ESP32 and MPU6050 IMU, featuring custom PID control, Kalman filtering, and a wireless Bluetooth interface. Designed with KiCad

Size
72.1 × 79.3 mm
Copper layers
2
Thickness
1.6 mm
Parts
29
Nets
51
Pads
122
Tracks, vias
100, 4
Pours
2
Routed
Yes
KiCad
KiCad 9.0 (file 20241229)
Created
21 Sep 2026
Updated
22 Sep 2026

Overview

SelfStandingRobot is an open-source printed circuit board by Jamane92, from the Jamane92/Self_Balancing_Robot repository on GitHub. It is a 2-layer board of 72.1 × 79.3 mm with 29 parts on 51 nets, routed with 100 tracks and 4 vias.

Its parts include 7 capacitors, 7 resistors, 7 connectors, 1 IC and 1 diode. It belongs with the robots and motor control boards of this library.

README

PCB/README.md

--FRANCAIS--

Voici la section PCB du projet, j'y expose l'intégralité des documents nécessaires pour récupéerer le projet. Ce projet avait avant tout pour but de m'initier à la création de mon tout premier PCB, il n'utilise que des composants THT ou module complet que j'ai implémenté sur le PCB. Voici à quoi ressemble la 3D de mon PCB :

--ENGLISH--

Here is the PCB section of the project; I have provided all the necessary documents to replicate it. The primary goal of this project was to learn how to design my very first PCB; it uses only through-hole (THT) components or complete modules that I mounted onto the board. Here is what the 3D view of my PCB looks like:

3D2

3D3

--FRANCAIS--

Et voici le routage, gardez à l'esprit que c'est mon tout premier PCB, avec que des composants THT, sans copper zone pour la puissance par exemple, sans plan de masse correct garantissant des EMI basses et une intégrité du signal, même si sur ce genre d'application, on est loin d'avoir ce genre de problème. L'important pour moi à ce moment là, c'était que ca marche, pour me donner la confiance d'aller sur des projets plus poussés.

--ENGLISH--

And here is the routing; keep in mind that this is my very first PCB, using only through-hole components, with no copper pour and no proper ground plane to ensure low EMI and signal integrity—though for this type of application, such issues are far from being a concern. The important thing for me at that point was for it to work, to give me the confidence to take on more advanced projects.

robot

Parts

29
QtyValueFootprintReferences
4100nFCapacitor_THT:C_Disc_D3.0mm_W1.6mm_P2.50mmC3, C4, C6, C7
41kResistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P7.62mm_HorizontalR5, R6, R7, R8
3C_PolarizedCapacitor_THT:CP_Radial_D8.0mm_P5.00mmC1, C2, C5
3Conn_01x04_PinConnector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_VerticalJ2, J4, J5
2Conn_01x15_SocketConnector_PinSocket_2.54mm:PinSocket_1x15_P2.54mm_VerticalJ6, J7
2Pololu_Breakout_DRV8825Module:Pololu_Breakout-16_15.2x20.3mmA1, B1
110kResistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P7.62mm_HorizontalR12
12.2kResistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P7.62mm_HorizontalR13
1220Resistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P7.62mm_HorizontalR1
1Conn_01x08_PinConnector_PinSocket_2.54mm:PinSocket_1x08_P2.54mm_VerticalJ1
1LEDLED_THT:LED_D5.0mmD1
1Mini360footprints:Mini360_Step-DownU1
1Screw_Terminal_01x02TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-2-5.08_1x02_P5.08mm_HorizontalJ3

The 25 most common of 29 parts.

Questions

How big is the SelfStandingRobot PCB?

It measures 72.1 × 79.3 mm and has 2 copper layers, 1.6 mm thick.

What parts does the SelfStandingRobot use?

29 parts. 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 SelfStandingRobot KiCad files?

From the Jamane92/Self_Balancing_Robot repository on GitHub, at the commit this page was made from: the board is PCB/SelfStandingRobot.kicad_pcb and its schematic PCB/SelfStandingRobot.kicad_sch. PCBKit opens the board in the browser, with nothing to install.

Can I use the SelfStandingRobot design in my own project?

Its repository states no licence, so its author keeps all rights: ask Jamane92 before reusing the design.

Similar boards

  • 2 layers52.3 × 10.5 mmStackLink, the printed circuit board in 3D

    StackLink

    gusmanb/logicanalyzer

    24 channel, 100Msps logic analyzer hardware and software

    29 parts5.1kGPL-3.0
  • 2 layers56 × 20 mmHallEffectXY Endstop, the printed circuit board in 3D

    HallEffectXY Endstop

    VoronDesign/Voron-Hardware

    Cool Hardware designed by the Voron Design group

    29 parts1.1kGPL-3.0
  • 2 layers50 × 23.2 mmAnalog, the printed circuit board in 3D

    Analog

    hoglet67/RGBtoHDMI

    Bare-metal Raspberry Pi project that provides pixel-perfect sampling of Retro Computer RGB/YUV video and conversion to HDMI

    29 parts1kGPL-3.0
  • 2 layers16.8 × 13.6 mmE Fidget Lite, the printed circuit board in 3D

    E Fidget Lite

    hackclub/OnBoard

    💡 Join 1,000 teenagers and make your first PCB with a $100 grant!

    29 parts915
  • 2 layers85 × 12.5 mmTERES PCB3-TOUCH BTN Rev.A, the printed circuit board in 3D

    TERES PCB3-TOUCH BTN Rev.A

    OLIMEX/DIY-LAPTOP

    Do It Yourself Open Source Hardware and Software Modular Hacker's Friendly Laptop

    29 parts578Apache-2.0
  • 2 layers33.7 × 97.8 mmHAN ESP TSS721, the printed circuit board in 3D

    HAN ESP TSS721

    UtilitechAS/amsreader-firmware

    ESP8266 and ESP32 compatible firmware to read, interpret and publish data to MQTT from smart electrical meters, both DLMS and DSMR is supported

    29 parts470
  • 2 layers80 × 55 mmGB CARTPP XC, the printed circuit board in 3D

    GB CARTPP XC

    Gekkio/gb-hardware

    Game Boy -related custom hardware by gekkio

    29 parts379CC-BY-4.0
  • 2 layers55 × 58 mmProto ads bee mcu board, the printed circuit board in 3D

    Proto ads bee mcu board

    PantsForBirds/adsbee

    Open Source Embedded ADS-B Receiver

    29 parts344GPL-3.0