
Mecha pico mcb
wubneh/MCTR260-pico-firmware
Raspberry Pi Pico W robot controller firmware for MCTR 260 Mechatronics Design. Dual-core BLE architecture with mecanum drive, stepper/DC motor support, and configurable motion profiles.

RF relay switching board for radio, antenna, and amplifier routing. Public Engineering Reference — AS-IS.
RayRigAntSw is an open-source printed circuit board by RFStateSide, from the RFStateSide/RayRigAntSw repository on GitHub, published under the CERN-OHL-P-2.0 licence. It is a 2-layer board of 85 × 130 mm with 27 parts on 19 nets, routed with 150 tracks and 38 vias.
It is built around the B32529C0103K289, 1N5819-TP and PE45478, with the G2RL-1-E DC5, RCJ-021 and RDEC71E476MWK1H03B among its other parts. Its parts include 11 connectors, 6 capacitors, 5 diodes and 5 switches. It belongs with the radio and wireless and audio and music boards of this library.
RayRigAntSw is RF StateSide LLC's through-hole RF relay board for selecting two rigs, three antennas and an amplifier/bypass path.
Public Engineering Reference — AS-IS. The editable design, BOM and manufacturing files support study, independent construction, modification and community improvement.
Five 12 V SPDT relays provide RF routing through external low-side drivers. Two PTT connections pass to the external controller. RaySspaController supplied the drivers and sequencing used in our original integration test; another controller can use the documented interface.
The original PCBWay boards were assembled and successfully tested. D1–D5 were installed opposite the original PCB markings to obtain correct electrical polarity. The supplied CAD includes the subsequent correction and was not refabricated. See assembly and history.
Open the KiCad 9 project. Required symbols and footprints are included in project-local libraries. Optional 3D models are not required or bundled.
The integration guide provides the eight-pin J8 interface, relay truth tables and external-driver requirements. The board does not enforce transmitter arbitration or switching delays; those responsibilities belong to the external controller.
View schematic · View PCB front
Use the BOM with the P2-prep-01 manufacturing set. This identifier ties the corrected sources to their outputs; it does not identify a newly tested board. The original v2.0 silkscreen is retained.
Four inherited clearance findings, two J6 courtyard findings and nine schematic ERC findings are documented in the engineering audit. The supplied files are not represented as DRC/ERC-clean. Assess the retained findings and component/mechanical suitability before manufacture.
| Location | Contents |
|---|---|
| hardware/ | Editable KiCad project and local libraries |
| bom/ | Component and procurement reference |
| manufacturing/ | Corrected Gerbers, drills and assembly references |
| docs/ | Integration, assembly, limitations and provenance |
| tools/ | Output generation and verification utilities |
| PUBLIC_RELEASE_AUDIT.md | Attributed engineering verification evidence |
Original fabrication archives and internal review records are retained separately. No parent firmware or development-repository history is included.
KiCad was used for schematic capture and PCB design. Python utilities support source verification and manufacturing-package integrity checks. Git and GitHub are the intended version-control and distribution tools.
ChatGPT by OpenAI and OpenAI Codex assisted with engineering review, documentation, source organization, validation and preparation of the open-hardware reference. RF StateSide LLC performed the original hardware design, assembly and historical integration testing.
No guaranteed RF power handling, isolation, insertion loss, frequency range, hot-switching capability or certification is claimed. The corrected CAD has not been physically refabricated. No future development or technical support is promised. Read known limitations.
Copyright RF StateSide LLC. Original project contributions are provided under CERN-OHL-P v2.0, SPDX CERN-OHL-P-2.0. The unmodified LICENSE is authoritative; retain NOTICE and applicable third-party notices.
See licensing and provenance for scope and separately licensed material.
RF StateSide LLC developed the original hardware and custom footprints. KiCad library contributors supplied the upstream elements identified in the library notices. Procurement references identify candidate parts and do not establish the identity or fit of every historically installed component.
| Qty | Value | Footprint | References |
|---|---|---|---|
| 5 | .01 µF | RayRigAntSw:CAPRR500W50L730T250H650 | C1, C2, C3, C4, C5 |
| 5 | 1N5819 | RayRigAntSw:D_DO-41_SOD81_P10.16mm_Horizontal | D1, D2, D3, D4, D5 |
| 5 | Conn_UHF | RayRigAntSw:SO_239 | J1, J2, J3, J4, J5 |
| 5 | G2RL-1-E | RayRigAntSw:Relay_SPDT_Omron_G2RL-1-E | K1, K2, K3, K4, K5 |
| 2 | Hole_Pad | RayRigAntSw:Conn_Tp1 | J9, J10 |
| 2 | RCJ-021 | RayRigAntSw:CUI_RCJ-021 | J6, J7 |
| 1 | 47 µF | RayRigAntSw:CAPRR500W50L730T250H650 | C6 |
| 1 | Hole_Pad | RayRigAntSw:Conn_Pad_Tp | J11 |
| 1 | Screw_Terminal_01x08 | RayRigAntSw:TerminalBlock_Phoenix_MPT-0,5-8-2.54_1x08_P2.54mm_Horizontal | J8 |
It measures 85 × 130 mm and has 2 copper layers, 1.63 mm thick.
27 parts, built around the B32529C0103K289, 1N5819-TP, PE45478 and G2RL-1-E DC5. 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 RFStateSide/RayRigAntSw repository on GitHub, at the commit this page was made from: the board is hardware/RayRigAntSw.kicad_pcb and its schematic hardware/RayRigAntSw.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Its repository publishes it under the CERN-OHL-P-2.0 licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).

wubneh/MCTR260-pico-firmware
Raspberry Pi Pico W robot controller firmware for MCTR 260 Mechatronics Design. Dual-core BLE architecture with mecanum drive, stepper/DC motor support, and configurable motion profiles.


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