kylestew/roamer-bot1A small SLAM capable robot built on the Pololu Romi chassis
Driver board is an open-source printed circuit board by kylestew, from the kylestew/roamer-bot repository on GitHub. It is a 4-layer board of 111.8 × 69.8 mm with 70 parts on 67 nets, routed with 344 tracks and 236 vias.
It is built around the STM32F103CBT6, DRV8838DSG and USBLC6-2SC6, with the AO3401A, AO4407A and SK-3296S-01-L2 among its other parts. Its parts include 23 capacitors, 18 resistors, 5 ICs, 4 connectors and 2 diodes. It belongs with the robots and motor control boards and the STM32 boards of this library.
A small robotics learning platform built on the Pololu Romi chassis.
The current direction is a custom-core Studio Mission Rover: Romi chassis, custom MCU + motor-control PCB, laptop tether first, telemetry from day one, and no ROS in the core system until the low-level robot is understood.
The project is moving from the original Romi 32U4 + Raspberry Pi + ROS approach toward a custom-core learning build:
hardware/: active Rev A PCB and mechanical-constraint work.firmware/: active custom MCU firmware work.host/: active laptop tether, telemetry capture, and test tooling work.legacy/old-romi/: previous Romi 32U4 + Raspberry Pi + ROS implementation, kept only as reference.docs/: datasheets, Romi reference assets, and legacy dependency references.Teleop + encoder logging + safe stop:
| Qty | Value | Footprint | References |
|---|---|---|---|
| 12 | 100n | Capacitor_SMD:C_0402_1005Metric | C3, C4, C5, C6, C7, C9, C11, C12, C14, C15, C18, C19 |
| 5 | 10k | Resistor_SMD:R_0402_1005Metric | R1, R10, R11, R14, R15 |
| 4 | 100k | Resistor_SMD:R_0402_1005Metric | R12, R13, R16, R18 |
| 4 | 10u | Capacitor_SMD:C_0805_2012Metric | C8, C10, C13, C17 |
| 4 | MountingHole | CustomParts:MountingHole_2.3mm_2-56 | H1, H2, H3, H4 |
| 3 | 1k | Resistor_SMD:R_0603_1608Metric | R20, R21, R23 |
| 2 | 10p | Capacitor_SMD:C_0402_1005Metric | C1, C2 |
| 2 | 22u | Capacitor_SMD:C_1206_3216Metric | C20, C21 |
| 2 | 5k1 | Resistor_SMD:R_0402_1005Metric | R6, R7 |
| 2 | DRV8838 | Package_SON:WSON-8-1EP_2x2mm_P0.5mm_EP0.9x1.6mm | U3, U4 |
| 1 | 100k | Resistor_SMD:R_0603_1608Metric | R22 |
| 1 | 10n | Capacitor_SMD:C_0402_1005Metric | C22 |
| 1 | 16Mhz | Crystal:Crystal_SMD_3225-4Pin_3.2x2.5mm | Y1 |
| 1 | 1k5 | Resistor_SMD:R_0402_1005Metric | R5 |
| 1 | 1u | Capacitor_SMD:C_0603_1608Metric | C23 |
| 1 | 22.1k | Resistor_SMD:R_0402_1005Metric | R19 |
| 1 | 220u | Capacitor_SMD:CP_Elec_6.3x7.7 | C16 |
| 1 | 33k | Resistor_SMD:R_0402_1005Metric | R17 |
| 1 | 5.6u | Inductor_SMD:L_APV_ANR8065 | L1 |
| 1 | AO3401A | Package_TO_SOT_SMD:SOT-23 | Q1 |
| 1 | AO4407A | CustomParts:AO4407A_SO-8_GSD | Q2 |
| 1 | BATT (2xAA) | CustomParts:Romi_Chassis_BatteryContactPair_2Slot_14_50mm | BT2 |
| 1 | BATT (4xAA) | CustomParts:Romi_Chassis_BatteryContactPair_2Slot_14_50mm | BT1 |
| 1 | CAPYBARA_ARTWORK | Capybara_Sunglasses | G1 |
| 1 | CONN_MOTOR_L | Connector_PinSocket_2.54mm:PinSocket_1x06_P2.54mm_Vertical | J4 |
| 1 | CONN_MOTOR_R | Connector_PinSocket_2.54mm:PinSocket_1x06_P2.54mm_Vertical | J3 |
| 1 | Conn_ARM_JTAG_SWD_10 | Connector_PinHeader_1.27mm:PinHeader_2x05_P1.27mm_Vertical_SMD | J1 |
| 1 | LMR51430XDDCR | Package_TO_SOT_SMD:SOT-23-6 | U5 |
| 1 | PTC_2.6A_16V | Fuse:Fuse_1812_4532Metric | F1 |
| 1 | PWR_ON_LED | LED_SMD:LED_0603_1608Metric | D1 |
| 1 | SK-3296S-01-L2 | CustomParts:SW_SPDT_RightAngle_XKB_SK-3296S-01-L2 | SW2 |
| 1 | STATUS | LED_SMD:LED_0805_2012Metric | D2 |
| 1 | STM32F103CBT6 | Package_QFP:LQFP-48_7x7mm_P0.5mm | U1 |
| 1 | SW_Push | Button_Switch_SMD:SW_SPST_TS-1088-xR020 | SW1 |
| 1 | TP_3V3 | TestPoint:TestPoint_Pad_2.0x2.0mm | TP1 |
| 1 | TP_BAT | TestPoint:TestPoint_Pad_2.0x2.0mm | TP3 |
| 1 | TP_BAT_SW | TestPoint:TestPoint_Pad_2.0x2.0mm | TP4 |
| 1 | TP_GND | TestPoint:TestPoint_Pad_2.0x2.0mm | TP2 |
| 1 | USBLC6-2SC6 | Package_TO_SOT_SMD:SOT-23-6 | U2 |
| 1 | USB_C_Receptacle_USB2.0_16P | Connector_USB:USB_C_Receptacle_G-Switch_GT-USB-7010ASV | J2 |
It measures 111.8 × 69.8 mm and has 4 copper layers, 1.59 mm thick.
70 parts, built around the STM32F103CBT6, DRV8838DSG, USBLC6-2SC6 and AO3401A. 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 kylestew/roamer-bot repository on GitHub, at the commit this page was made from: the board is hardware/driver-board/driver-board.kicad_pcb and its schematic hardware/driver-board/_restore_backup_2026-07-17T22-34-31-820/driver-board.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Its repository states no licence, so its author keeps all rights: ask kylestew before reusing the design.
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