2 layers245.1 × 160 mm
8-Bit CPU 32k
slu4coder/Minimal-64x4-Home-Computer
My DIY TTL home computer with VGA and PS/2 and 4x the processing power of a Commodore C64 or Apple II.
139 parts326
2 layers73 × 98.5 mm
F4 v2
Nvinh5148/STR_PCBCustom PCB design for the low-level controller of the STR Robot autonomous vehicle platform.
- Size
- 73 × 98.5 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 47
- Nets
- 144
- Pads
- 242
- Tracks, vias
- 925, 204
- Pours
- 1
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 9 Apr 2026
- Updated
- 18 Apr 2026
Overview
F4 v2 is an open-source printed circuit board by Nvinh5148, from the Nvinh5148/STR_PCB repository on GitHub. It is a 2-layer board of 73 × 98.5 mm with 47 parts on 144 nets, routed with 925 tracks and 204 vias.
It is built around the 74HC245D. Its parts include 20 resistors, 3 ICs, 2 capacitors and 2 diodes. It belongs with the STM32 boards of this library.
Main components
1README
README.mdSTR_PCB
Custom PCB design for the low-level controller of the STR Robot autonomous vehicle platform.
Overview
This repository contains the hardware design files for the custom controller board used in the STR Robot project. The board is designed to interface with the STM32-based firmware layer and provide the electrical bridge between the vehicle hardware and the ROS 2 autonomy stack.
This repository is part of the complete STR Robot simulation-to-reality system:
- custom PCB hardware
- STM32 micro-ROS firmware
- ROS 2 autonomy workspace
- real-world Ackermann robot deployment
Board Preview
Schematic Preview
Schematic PDF: schematicf4.pdf
Repository Contents
f4_v2.kicad_sch— KiCad schematicf4_v2.kicad_pcb— KiCad PCB layoutf4_v2.kicad_pro— KiCad project fileGerber_f4_v2/— exported Gerber manufacturing filesGerber_f4_v2.zip— compressed Gerber packagef4_v2-backups/— backup files
Purpose
The board is designed as the low-level control hardware for the STR Robot platform. It supports the embedded controller responsible for:
- motor-related interfaces
- steering-related interfaces
- encoder and GPIO connections
- serial communication interfaces
- integration with the STM32 micro-ROS firmware layer
System Role
This repository corresponds to the hardware layer of the full robot system:
STR_PCB → microros_ws → ttbot_ws
- STR_PCB: custom controller board
- microros_ws: STM32-based embedded firmware using micro-ROS
- ttbot_ws: high-level ROS 2 workspace for localization, planning, and navigation
Hardware Interfaces
From the current board design, the PCB provides grouped connectors for:
- GPIO
- ENCODER
- MOTOR
- UART / serial communication
- power input / output terminals
Toolchain
- KiCad for schematic and PCB design
- Standard Gerber export for PCB fabrication
Manufacturing
To fabricate the board:
- Open the project in KiCad
- Review the schematic and PCB layout
- Export or use the provided Gerber files in
Gerber_f4_v2/ - Submit the Gerber package to your PCB manufacturer
Related Repositories
- Firmware:
microros_ws - ROS 2 autonomy stack:
ttbot_ws
Project Context
This board is part of the STR Robot simulation-to-reality development pipeline for an Ackermann-steered autonomous mobile robot.
Parts
47| Qty | Value | Footprint | References |
|---|---|---|---|
| 16 | 220 | Resistor_SMD:R_0805_2012Metric | R1, R2, R3, R4, R5, R6, R8, R9, R11, R12, R14, R15, R17, R18, R19, R20 |
| 6 | ~ | Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical | GPIO_OUTPUT1, GPIO_OUTPUT2, GPIO_OUTPUT3, J_M1, J_M2, J_M3 |
| 5 | Conn_01x04_Socket | Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical | J_ENC1, J_ENC2, J_ENC3, J_USART2, J_USART3 |
| 4 | MountingHole | MountingHole:MountingHole_3.2mm_M3 | H1, H2, H3, H4 |
| 3 | 33 | Resistor_SMD:R_0805_2012Metric | R7, R10, R13 |
| 2 | 100nf | Capacitor_SMD:C_0805_2012Metric | C1, C6 |
| 2 | 74HC245 | Package_SO:TSSOP-20_4.4x6.5mm_P0.65mm | U1, U3 |
| 1 | 1k5 | Resistor_SMD:R_0805_2012Metric | R16 |
| 1 | 5V | Connector_PinHeader_2.54mm:PinHeader_1x01_P2.54mm_Vertical | OUT(+) |
| 1 | Conn_01x02_Socket | TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-2-5.08_1x02_P5.08mm_Horizontal | J_PWR1 |
| 1 | D_Schottky | Diode_SMD:D_SMA | D2 |
| 1 | IN (-) | Connector_PinHeader_2.54mm:PinHeader_1x01_P2.54mm_Vertical | IN(-) |
| 1 | IN(+) | Connector_PinHeader_2.54mm:PinHeader_1x01_P2.54mm_Vertical | IN(+) |
| 1 | LED | LED_SMD:LED_0805_2012Metric | D1 |
| 1 | OUT (-) | Connector_PinHeader_2.54mm:PinHeader_1x01_P2.54mm_Vertical | OUT(-) |
| 1 | STM32F407G-DISC1 | Kicad:MODULE_STM32F4DISCOVERY_1 | U2 |
Questions
How big is the F4 v2 PCB?
It measures 73 × 98.5 mm and has 2 copper layers, 1.6 mm thick.
What parts does the F4 v2 use?
47 parts, built around the 74HC245D. 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 F4 v2 KiCad files?
From the Nvinh5148/STR_PCB repository on GitHub, at the commit this page was made from: the board is f4_v2.kicad_pcb and its schematic f4_v2.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the F4 v2 design in my own project?
Its repository states no licence, so its author keeps all rights: ask Nvinh5148 before reusing the design.
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