4 layers50 × 50 mm
ESP32-S3
ysaip07/KiCAD_Project
Personal PCB design projects using KiCad, reflecting a strong foundation in electronics design, component footprints, and PCB fabrication workflows.
52 parts
4 layers52 × 45 mm
Self Balancing Robot v2
JonasLindinger/Self-Balancing-Robot- Size
- 52 × 45 mm
- Copper layers
- 4
- Thickness
- 1.58 mm
- Parts
- 52
- Nets
- 78
- Pads
- 236
- Tracks, vias
- 452, 64
- Pours
- 4
- Routed
- Yes
- KiCad
- KiCad 10.0 (file 20260206)
- Created
- 23 May 2026
- Updated
- 23 May 2026
Overview
Self Balancing Robot v2 is an open-source printed circuit board by JonasLindinger, from the JonasLindinger/Self-Balancing-Robot repository on GitHub. It is a 4-layer board of 52 × 45 mm with 52 parts on 78 nets, routed with 452 tracks and 64 vias.
It is built around the ESP32-S3-WROOM-1-N8, USBLC6-2SC6 and ESD9B3.3ST5G, with the BLM21PG220SN1 among its other parts. Its parts include 14 capacitors, 12 connectors, 7 resistors, 6 diodes and 5 ICs. It belongs with the robots and motor control boards and the ESP32 boards of this library.
Main components
4
ESP32-S3-WROOM-1-N8
SMD,25.5x18mm-40℃~+85℃ -98.2dBm 2.4GHz 20.5dBm 355mA 3V~3.6V 95mA Bluetooth5.0 ESP32-S3 Chip On-board PCB Antenna UART、SPI、I2C、I2S、USB SMD,25.5x18mm WiFi Modules ROHSEspressif SystemsWiFi Modules
USBLC6-2SC6
SOT-23-60.35pF、0.8pF 100nA 150W@8/20us 15V 2 5V 6A@8/20us 6V ESD SOT-23-6 ESD and Surge Protection (TVS/ESD) ROHSUMWESD And Surge Protection (TVS/ESD)
ESD9B3.3ST5G
SOD-923(0402)ESD And Surge Protection (TVS/ESD)TECH PUBLIC
BLM21PG220SN1
08051 22Ω@100MHz 6A 9mΩ ±25% 0805 Ferrite Beads ROHSMurataFerrite Beads
README
README.mdSelf-Balancing-Robot
Parts
52| Qty | Value | Footprint | References |
|---|---|---|---|
| 8 | 100n | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C1, C3, C5, C7, C9, C10, C13, C14 |
| 5 | 10u | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C2, C4, C8, C11, C12 |
| 4 | MountingHole | MountingHole:MountingHole_3.2mm_M3_DIN965 | H1, H2, H3, H4 |
| 3 | Conn_01x02 | Connector_PinHeader_2.54mm:PinHeader_2x01_P2.54mm_Vertical | J5, J6, J7 |
| 2 | 100 | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R2, R3 |
| 2 | 10k | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R6, R7 |
| 2 | 5.1k | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R4, R5 |
| 2 | ESD9B3.3ST5G | Diode_SMD:D_SOD-923 | D5, D6 |
| 1 | 12V PWR | Connector_PinHeader_2.54mm:PinHeader_2x01_P2.54mm_Vertical | J12 |
| 1 | 1A | Fuse:Fuse_0805_2012Metric_Pad1.15x1.40mm_HandSolder | F1 |
| 1 | 1N5817 | Diode_THT:D_DO-41_SOD81_P10.16mm_Horizontal | D4 |
| 1 | 1u | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C6 |
| 1 | 330 | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R1 |
| 1 | BLM21PG220 | Inductor_SMD:L_0805_2012Metric_Pad1.05x1.20mm_HandSolder | FB1 |
| 1 | BLUE | LED_THT:LED_D3.0mm | D3 |
| 1 | BOOT | Button_Switch_THT:SW_PUSH_6mm | SW2 |
| 1 | ESP32-S3-WROOM-1 | RF_Module:ESP32-S3-WROOM-1 | U1 |
| 1 | GREEN | LED_THT:LED_D3.0mm | D2 |
| 1 | IN+ | Connector_PinHeader_2.54mm:PinHeader_1x01_P2.54mm_Vertical | J2 |
| 1 | IN- | Connector_PinHeader_2.54mm:PinHeader_1x01_P2.54mm_Vertical | J1 |
| 1 | M1 OUT | Connector_PinHeader_2.54mm:PinHeader_2x01_P2.54mm_Vertical | J9 |
| 1 | M1 TB6612FNG | Package_SO:SSOP-24_5.3x8.2mm_P0.65mm | U4 |
| 1 | M2 OUT | Connector_PinHeader_2.54mm:PinHeader_2x01_P2.54mm_Vertical | J10 |
| 1 | M2 TB6612FNG | Package_SO:SSOP-24_5.3x8.2mm_P0.65mm | U5 |
| 1 | OUT+ | Connector_PinHeader_2.54mm:PinHeader_1x01_P2.54mm_Vertical | J3 |
| 1 | OUT- | Connector_PinHeader_2.54mm:PinHeader_1x01_P2.54mm_Vertical | J4 |
| 1 | Programming Header | Connector_PinHeader_2.54mm:PinHeader_2x03_P2.54mm_Vertical | J8 |
| 1 | RED | LED_THT:LED_D3.0mm | D1 |
| 1 | RESET | Button_Switch_THT:SW_PUSH_6mm | SW1 |
| 1 | USBLC6-2SC6 | Package_TO_SOT_SMD:SOT-23-6_Handsoldering | U2 |
| 1 | USB_C_Receptacle_USB2.0_16P | Connector_USB:USB_C_Receptacle_GCT_USB4085 | J11 |
| 1 | module_mpu6050 | Usini Sensors:module_mpu6050 | U3 |
Questions
How big is the Self Balancing Robot v2 PCB?
It measures 52 × 45 mm and has 4 copper layers, 1.58 mm thick.
What parts does the Self Balancing Robot v2 use?
52 parts, built around the ESP32-S3-WROOM-1-N8, USBLC6-2SC6, ESD9B3.3ST5G and BLM21PG220SN1. 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 Self Balancing Robot v2 KiCad files?
From the JonasLindinger/Self-Balancing-Robot repository on GitHub, at the commit this page was made from: the board is Self Balancing Robot v2.kicad_pcb and its schematic Self Balancing Robot v2.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Self Balancing Robot v2 design in my own project?
Its repository states no licence, so its author keeps all rights: ask JonasLindinger before reusing the design.
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