2 layers70 × 54 mm
2 layers70 × 65 mm
Balance 2.0
MagdiLaoun/MLDoublePendulum6Files regarding the double pendulum
- Size
- 70 × 65 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 9
- Nets
- 28
- Pads
- 55
- Tracks, vias
- 50, 0
- Pours
- 1
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 14 Jun 2026
- Updated
- 28 Jun 2026
Overview
Balance 2.0 is an open-source printed circuit board by MagdiLaoun, from the MagdiLaoun/MLDoublePendulum repository on GitHub. It is a 2-layer board of 70 × 65 mm with 9 parts on 28 nets, routed with 50 tracks and 0 vias.
It is built around the ESP32-C3 and TMC5160-TA. Its parts include 3 connectors and 2 ICs. It belongs with the ESP32 and RISC-V boards of this library.
Main components
2
ESP32-C3
QFN-32-EP(5x5)12bit 160MHz 22 3V~3.6V Others QFN-32-EP(5x5) Microcontrollers (MCU/MPU/SOC) ROHSEspressif SystemsMicrocontrollers (MCU/MPU/SOC)TMC5160-TA
TQFP-48-EP(7x7)-40℃~+125℃ 256 3V~5.25V Bipolar Driver No Overcurrent Protection、Short-Circuit Protection、Over temperature protection、Under-voltage lockout、Motor step-out prevention function、Dead-time / shoot-through protection STEP/DIR、SPI、UART TQFP-48-EP(7x7) Stepper Motor Driver ROHSTRINAMIC Motion Control GmbHStepper Motor Driver
README
readme.mdReadme
This repository contains the files needed to build a double inverted pendulum. This repo is currently being prepared and does not yet contain all the documents. It will be updated as more information becomes available.
Here is the available files:
- Double pendulum theory (en).pdf: theory of pendulum kinematics and balance control, English version
- Double pendulum theory (fr).pdf: theory of pendulum kinematics and balance control, French version
- ComponentsList.md: Bill of material of the machine
- Double Pendulum Circuit: Folder containing the pcb (schematic + footprint) drawn on Kicad, this circuit allows to connect electrically all the parts together (motor, controller, etc.)
- Double Pendulum 3DParts STL: Folder containing the 3DParts in STL format
- Double Pendulum Drawings PDF: Folder containing some drawings of machined parts and drawings of assembly and sub-assembly
The code will be added later.
Parts
9| Qty | Value | Footprint | References |
|---|---|---|---|
| 4 | MountingHole_Pad | MountingHole:MountingHole_3.2mm_M3_DIN965_Pad | H1, H2, H3, H4 |
| 1 | ESP32-C3 | MyLibrary:ESP32C3 | U2 |
| 1 | Encoder | Connector_IDC:IDC-Header_2x03_P2.54mm_Vertical | J2 |
| 1 | Motor | Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical | J5 |
| 1 | Power | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J1 |
| 1 | TMC5160 | MyDrivers:TMC5160 | U1 |
Questions
How big is the Balance 2.0 PCB?
It measures 70 × 65 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Balance 2.0 use?
9 parts, built around the ESP32-C3 and TMC5160-TA. 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 Balance 2.0 KiCad files?
From the MagdiLaoun/MLDoublePendulum repository on GitHub, at the commit this page was made from: the board is Double pendulum Circuit/Balance 2.0.kicad_pcb and its schematic Double pendulum Circuit/Balance 2.0.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Balance 2.0 design in my own project?
Its repository states no licence, so its author keeps all rights: ask MagdiLaoun before reusing the design.
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