2 layers70 × 65 mm
2 layers70 × 54 mm
Balance 1.0
MagdiLaoun/MLSinglePendulum15Files regarding the single pendulum
- Size
- 70 × 54 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 9
- Nets
- 28
- Pads
- 61
- Tracks, vias
- 61, 1
- Pours
- 1
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 23 May 2026
- Updated
- 9 Jun 2026
Overview
Balance 1.0 is an open-source printed circuit board by MagdiLaoun, from the MagdiLaoun/MLSinglePendulum repository on GitHub. It is a 2-layer board of 70 × 54 mm with 9 parts on 28 nets, routed with 61 tracks and 1 via.
It is built around the ESP32-C3 and TMC5160-TA. Its parts include 4 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 all the files needed to build a simple pendulum.
- Inverted pendulum (English).pdf: theory of pendulum kinematics and balance control, English version
- Inverted pendulum (French).pdf: theory of pendulum kinematics and balance control, French version
- ComponentList.md: Bill of material of the machine
- Single Pendulum STL: Folder containing all the 3D-print parts in stl format
- Single Pendulum Circuit: Folder containing the pcb (schematic + footprint) drawn on Kicad, this circuit allows to connect electrically all the parts together (motor, controller, etc.)
- Single Pendulum C++: Folder containing the source code of the controller, written in C++, in VSCode PlatformIO
- Single Pendulum SwiftUI: Folder containing the source code of the program on the computer to set-up the system, to set the parameters and to launch the machine, written in SwiftUI, for MacOS computer
- Single Pendulum Python: Folder containing the source code written in Python, only the basics intended to control the pendulum from the computer
- Single Pendulum Drawings pdf: Folder containing some assembly drawings and some machined part drawings
Parts
9| Qty | Value | Footprint | References |
|---|---|---|---|
| 3 | MountingHole_Pad | MountingHole:MountingHole_3.2mm_M3_DIN965_Pad | H1, H2, H3 |
| 1 | ESP32-C3 | MyLibrary:ESP32C3 | U2 |
| 1 | Encoder | Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical | J6 |
| 1 | Input-Output | Connector_PinSocket_2.54mm:PinSocket_1x08_P2.54mm_Vertical | J2 |
| 1 | Motor | Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical | J5 |
| 1 | Power | Connector_JST:JST_XH_B3B-XH-AM_1x03_P2.50mm_Vertical | J1 |
| 1 | TMC5160 | MyDrivers:TMC5160 | U1 |
Questions
How big is the Balance 1.0 PCB?
It measures 70 × 54 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Balance 1.0 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 1.0 KiCad files?
From the MagdiLaoun/MLSinglePendulum repository on GitHub, at the commit this page was made from: the board is Single Pendulum Circuit/Balance 1.0.kicad_pcb and its schematic Single Pendulum Circuit/Balance 1.0.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Balance 1.0 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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