2 layers23 × 120 mm
2 layers79 × 94.5 mm
Robotics controller maulin
mp1x/Maulin---Robot-ControllerESP32-based robotics controller PCB with motor drivers, encoders, IMU, OLED, and battery monitor
- Size
- 79 × 94.5 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 14
- Nets
- 69
- Pads
- 120
- Tracks, vias
- 266, 16
- Routed
- Yes
- KiCad
- KiCad 10.0 (file 20260206)
- Created
- 24 Jul 2026
- Updated
- 24 Jul 2026
Overview
Robotics controller maulin is an open-source printed circuit board by mp1x, from the mp1x/Maulin---Robot-Controller repository on GitHub. It is a 2-layer board of 79 × 94.5 mm with 14 parts on 69 nets, routed with 266 tracks and 16 vias.
It is built around the MPU-6050. Its parts include 5 diodes, 4 ICs and 3 switches. It belongs with the robots and motor control and sensors and measurement boards of this library.
Main components
1README
README.mdMaulin---Robot-Controller
This project is a custom ESP32-based robotics controller designed for dual DC motors, quadrature encoders, an MPU6050 IMU, SSD1306 OLED display, emergency stop system, and battery monitoring. The project includes a full KiCad schematic, PCB layout, Wokwi simulation, and ESP32 firmware.
This project is not a robot itself, however, it is the electronics that power a robot, the complete control system that acts as the robot’s brain. Instead of building wheels or a chassis, this project focuses on designing a universal robotics controller built around the ESP32, capable of driving motors, reading quadrature encoders, processing IMU data, handling emergency stop safety, monitoring battery voltage, and displaying system information on an OLED dashboard. The controller integrates all the core functions real robots rely on internally: motion tracking, speed and distance measurement, drift correction, orientation sensing, and safety logic. This board can be mounted onto any future robot—rovers, line followers, balancing robots, robotic arms, or any system that needs precise motor control and feedback. In short, this project builds the brain, not the body, forming a professional foundation for future robotics development.
Wokwi Simulation
This project includes a full Wokwi simulation of the ESP32, OLED, IMU, and encoders.
Simulation link: https://wokwi.com/projects/468589263635231745
Project Files
- /schematic — KiCad schematic + PNG/PDF
- /pcb — PCB layout screenshots + 3D view
- /firmware — ESP32 code
- /wokwi — Simulation files
Parts
14| Qty | Value | Footprint | References |
|---|---|---|---|
| 2 | LED | LED_THT:LED_D3.0mm_IRGrey | D2, D4 |
| 2 | LED | LED_THT:LED_D3.0mm_IRBlack | D1, D3 |
| 2 | RotaryEncoder | Connector_PinHeader_2.54mm:PinHeader_1x05_P2.54mm_Vertical | SW4, SW5 |
| 1 | Battery | Battery:BatteryHolder_Keystone_2460_1xAA | BT1 |
| 1 | ER_OLEDM0.91_1x-I2C | Display:ER_OLEDM0.91_1x-I2C | U5 |
| 1 | LED | LED_THT:LED_D5.0mm_Horizontal_O1.27mm_Z3.0mm_IRGrey | D5 |
| 1 | MPU-6050 | Sensor_Motion:InvenSense_QFN-24_4x4mm_P0.5mm | U3 |
| 1 | R_Potentiometer | Potentiometer_SMD:Potentiometer_ACP_CA6-VSMD_Vertical | RV1 |
| 1 | SW_Nidec_CAS-120A1 | Button_Switch_SMD:Nidec_Copal_CAS-120A | SW3 |
| 1 | TB6612FNG | Package_SO:SSOP-24_5.3x8.2mm_P0.65mm | U2 |
| 1 | ~ | devkit:ESP32-DevKitC-V4-b | U4 |
Questions
How big is the Robotics controller maulin PCB?
It measures 79 × 94.5 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Robotics controller maulin use?
14 parts, built around the MPU-6050. 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 Robotics controller maulin KiCad files?
From the mp1x/Maulin---Robot-Controller repository on GitHub, at the commit this page was made from: the board is pcb/robotics_controller_maulin.kicad_pcb and its schematic schematic/robotics_controller_maulin.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Robotics controller maulin design in my own project?
Its repository states no licence, so its author keeps all rights: ask mp1x before reusing the design.
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