4 layers160 × 80 mm
4 layers110 × 90 mm
Wheelbase
SemuBot/semubot-electronicsFiles for SemuBot PCB design.
- Size
- 110 × 90 mm
- Copper layers
- 4
- Thickness
- 1.52 mm
- Parts
- 130
- Nets
- 133
- Pads
- 690
- Tracks, vias
- 1,692, 591
- Pours
- 37
- Routed
- Yes
- KiCad
- KiCad 10.0 (file 20260206)
- Created
- 15 Jan 2024
- Updated
- 29 Oct 2026
Overview
Wheelbase is an open-source printed circuit board by SemuBot, from the SemuBot/semubot-electronics repository on GitHub. It is a 4-layer board of 110 × 90 mm with 130 parts on 133 nets, routed with 1,692 tracks and 591 vias.
It is built around the STM32G474RET6, DRV8353FSRTAR and RT9013-33GB, with the AONR62818, MR30PW-M and 10155435-00011LF among its other parts. Its parts include 51 capacitors, 29 resistors, 18 transistors, 13 connectors and 8 diodes. It belongs with the STM32 boards of this library.
Main components
12
STM32G474RET6
LQFP-64(10x10)-40℃~+85℃ 1.71V~3.6V 128KB 12bit 12bit 170MHz 32 Bit 512KB 52 ARM Cortex-M4F Built-in FLASH LQFP-64(10x10) Microcontrollers (MCU/MPU/SOC) ROHSSTMicroelectronicsMicrocontrollers (MCU/MPU/SOC)
DRV8353FSRTAR
WQFN-40-EP(6x6)Brushless DC (BLDC) Motor DriverTexas Instruments
RT9013-33GB
SOT-23-5-40℃~+125℃@(Tj) 1 25uA 3.3V 30uVrms 400mV@(500mA) 5.5V 500mA 50dB@(10kHz) Fixed Over Current Protection、Over Temperature Protection、Enable Positive SOT-23-5 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSRICHTEKVoltage Regulators - Linear, Low Drop Out (LDO) Regulators
AONR62818
DFN-8(3x3)0.6pF 1 N-channel 11.5mΩ@10V 2.3V 2.42nF 280pF 48nC@10V 50A 54W 80V DFN-8(3x3) MOSFETs ROHSAlpha & Omega SemiconductorMOSFETsMR30PW-M
-- Power connector / plug connector ROHSChangzhou Amass ElecUncategorised10155435-00011LF
插件-25℃~+85℃ 1 3A、5A 5V Female Surface Mount, Right Angle Type-C 插件 USB Connectors ROHSAmphenolUSB Connectors
BZX84C3V3
SOT-23Zener Diodeshongjiacheng
DS1013-10SSIB1-B-0
插件,P=2.54mmIDC ConnectorsCONNFLY ElecMH3
-Connector AccessoriesAmphenolMH4
-Connector AccessoriesAltech
MTSW-104-09-L-S-400
插件,P=2.54mm-55℃~+125℃ 1 2.54mm 3A 4P Black Phosphor bronze Through Hole Tin 插件,P=2.54mm Pin Headers ROHSSamtecPin Headers
PRTR5V0U2X
SOT-143-55℃~+125℃ 0.3pF、0.8pF 100W 10V、15V 5V 6.5V 6A 80nA ESD IEC 61000-4-2、IEC 61000-4-5、IEC 61000-4-4 Three channels Unidirectional SOT-143 ESD and Surge Protection (TVS/ESD) ROHSTECH PUBLICESD And Surge Protection (TVS/ESD)
README
wheelbase/README.mdWheelbase
Overview
This project implements a 3-motor BLDC wheelbase controller using an STM32G4 microcontroller and three independent 3-phase gate-driver/MOSFET power stages, one per wheel.
Components
Microcontroller
- STM32G474RET6 Main controller (LQFP-64).
BLDC Drivers
- DRV8353FSRTAR (x3) 3-phase gate driver with integrated current-shunt amplifiers, one per motor.
MOSFETs
- AON7262E (x18) N-channel MOSFETs for the power stage, 6 per motor (3-phase half-bridges).
Current Sensing
- 9x 10 mΩ shunt resistors (2512 package), 3 per motor, read out through each DRV8353's integrated current-shunt amplifiers.
Voltage Regulation
- RT9013-33GB 3.3V LDO regulator.
Power Input & Connectors
-
XT30PW-M Main DC power input connector.
-
MR30PW-M (x3) Motor phase power connectors, one per motor.
-
10155435-00011LF (Amphenol) USB Type-C connector.
-
B5B-XH-A_LF(SN) (JST XH) (x6) 5-pin connectors for Hall/sensor inputs.
-
MTSW-104-09-L-S-400 (Samtec) 4-pin header, general purpose/debug I/O.
-
DS1013-10SSIB1 10-pin connector for general purpose I/O.
ESD / Overvoltage Protection
- PRTR5V0U2X ESD protection for data lines (standard KiCad library part).
- SMCJ33A 33V TVS diode for transient/overvoltage protection.
- BZX84C3V3 3.3V zener diode.
Timing & Clock
- X322516MLB4SI Crystal resonator for the STM32's HSE clock.
User Interface
- 1x green + 4x red status LEDs.
Technical Summary
Power Stage
- MOSFETs: 18x AON7262E (6 per motor)
- Gate Drivers: 3x DRV8353FSRTAR
- Current Sense Resistors: 9x 10mΩ (2512 package), read via the DRV8353's built-in current-shunt amplifiers (no separate current-sense ADC on this revision)
Parts
130| Qty | Value | Footprint | References |
|---|---|---|---|
| 18 | AONR62818 | AON:AON7262E | Q1, Q2, Q3, Q4, Q5, Q6, Q7, Q10, Q11, Q12, Q13, Q14, Q15, Q19, Q20, Q21 +2 |
| 13 | 100nF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C3, C13, C14, C15, C16, C34, C44, C45, C46, C47, C48, C49, C53 |
| 9 | 1.5K | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R29, R30, R31, R32, R33, R34, R35, R37, R38 |
| 9 | 10mΩ | Resistor_SMD:R_2512_6332Metric_Pad1.40x3.35mm_HandSolder | R9, R10, R11, R12, R13, R14, R15, R16, R17 |
| 9 | 1uF 50V X7R | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C35, C36, C37, C38, C39, C40, C41, C42, C43 |
| 6 | 0.1uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C5, C6, C17, C18, C23, C24 |
| 6 | 1uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C9, C21, C27, C28, C29, C30 |
| 6 | 3.3K | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R6, R18, R19, R20, R25, R45 |
| 6 | B5B-XH-A_LF__SN_ | B5B-XH-A_LF__SN_:JST_B5B-XH-A_LF__SN_ | J4, J5, J6, J10, J11, J12 |
| 4 | red | LED_SMD:LED_0603_1608Metric_Pad1.05x0.95mm_HandSolder | D2, D7, D8, D9 |
| 3 | 10uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C7, C19, C25 |
| 3 | 22uF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C31, C32, C33 |
| 3 | 470uF 5mm 63V Polymer | Capacitor_THT:CP_Radial_D10.0mm_P5.00mm | C50, C51, C52 |
| 3 | 47nF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C8, C20, C26 |
| 3 | DRV8353FSRTAR | DRV8358FSTAR:QFN50P600X600X80-41N-D | IC1, IC2, IC3 |
| 3 | MR30PW-M | KiCad:MR30PWM | J3, J7, J8 |
| 2 | 10pF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C10, C11 |
| 2 | 10uF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C1, C4 |
| 2 | 5.1K | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R1, R2 |
| 1 | 10155435-00011LF | library:AMPHENOL_10155435-00011LF | J1 |
| 1 | 10k | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R27 |
| 1 | 4.7uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C12 |
| 1 | 47 | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R5 |
| 1 | 91k | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R26 |
| 1 | BZX84C3V3 | BZX84C3V3:SOT95P240X115-3N | D4 |
| 1 | DS1013-10SSIB1 | DS1013:CONNFLY_DS1013-10SSIB1 | J9 |
| 1 | LOGO | semubot_image:katse2 | G*** |
| 1 | MH1 | MountingHole:MountingHole_3.2mm_M3_Pad_Via | H1 |
| 1 | MH2 | MountingHole:MountingHole_3.2mm_M3_Pad_Via | H2 |
| 1 | MH3 | MountingHole:MountingHole_3.2mm_M3_Pad_Via | H3 |
| 1 | MH4 | MountingHole:MountingHole_3.2mm_M3_Pad_Via | H4 |
| 1 | MTSW-104-09-L-S-400 | MTSW-104-09-L-S-400:SAMTEC_MTSW-104-09-L-S-400 | J13 |
| 1 | PRTR5V0U2X | Package_TO_SOT_SMD:SOT-143 | D3 |
| 1 | RT9013-33GB | RT9013:SOT94P279X129-5N | U5 |
| 1 | SMCJ33A | SMCJ33A:DIOM6859X262N | D5 |
| 1 | STM32G474RET6 | Package_QFP:LQFP-64_10x10mm_P0.5mm | U1 |
| 1 | X322516MLB4SI | X322516MLB4SI:OSC_X322516MLB4SI | Y2 |
| 1 | XT30PW-M | XT30:AMASS_XT30PW-M | J14 |
| 1 | green | LED_SMD:LED_0603_1608Metric_Pad1.05x0.95mm_HandSolder | D1 |
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Questions
How big is the Wheelbase PCB?
It measures 110 × 90 mm and has 4 copper layers, 1.52 mm thick.
What parts does the Wheelbase use?
130 parts, built around the STM32G474RET6, DRV8353FSRTAR, RT9013-33GB and AONR62818. 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 Wheelbase KiCad files?
From the SemuBot/semubot-electronics repository on GitHub, at the commit this page was made from: the board is wheelbase/Wheelbase.kicad_pcb and its schematic powerboard/hot-swap.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Wheelbase design in my own project?
Its repository states no licence, so its author keeps all rights: ask SemuBot before reusing the design.