2 layers110 × 110 mm
2 layers90 × 127.1 mm
Schema
Serwindev/micromouseA detailed view of making a micromouse -- absolutely from scratch and with no hardware experience prior.
- Size
- 90 × 127.1 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 37
- Nets
- 42
- Pads
- 120
- Tracks, vias
- 248, 13
- Pours
- 1
- Routed
- Yes
- KiCad
- KiCad 10.0 (file 20260206)
- Created
- 20 May 2026
- Updated
- 23 Aug 2026
Overview
Schema is an open-source printed circuit board by Serwindev, from the Serwindev/micromouse repository on GitHub. It is a 2-layer board of 90 × 127.1 mm with 37 parts on 42 nets, routed with 248 tracks and 13 vias.
It is built around the DRV8833PW. Its parts include 10 resistors, 4 diodes, 4 transistors, 3 capacitors and 3 connectors. It belongs with the ESP32 boards of this library.
Main components
1README
README.mdProject Zacch v1
About the project
Project Zacch is a full-size micromouse whose aim is to solve the maze autonomously.
The name of the mouse actually comes from Bible (Luke 19:1-10). There was a man called Zacchaeus -- who wanted to see Jesus but because he was short, he couldn't able to see Him. So he climbed a tree to see Jesus.
The dimension of Zacch is 90mm x 127mm (3.54 x 5.00 inches). Compared to other mice out there, it isn't that small. But this is my first-ever hardware project and i needed some more space to work properly.
The Project Zacch v1 is a project made for the event "Fallout" conducted by HackClub.
BOM
| sno | product name | description | Quantity | link | unit price | amount | Running total | |
|---|---|---|---|---|---|---|---|---|
| 1 | ESP32 | Brain of the Mouse | 1 | link | 445.00 | 445.00 | 445 | |
| 2 | Motor Driver | Bridge between Brain and motor | 1 | link | 65.00 | 65.00 | 510 | |
| 3 | Motors with encoders | Locomotive device to calculate it's position | 2 | link | 494 | 988 | 1498 | |
| 4 | Infrared Sensors | Eyes to watch out for obstacles | 2 | link | 99.00 | 198 | 1696 | |
| 5 | Battery | To power the mouse | 1 | link | 198 | 198 | 1894 | |
| 6 | MOSFET | To switch on the IR leds | 2 | link | 49.15 | 98.30 | 1992.3 | |
| 7 | Resistors pack | TO limit the current | 1 | link | 199.00 | 199.00 | 2191.3 | |
| 8 | Wheels | Pair of wheels suitable for N20 | 1 | link | 269 | 269 | 2460.3 | |
| 9 | Caster ball | Non-driven wheel to support the mouse | 1 | link | 39 | 39 | 2499.3 | |
| 10 | Boost converter | To convert low voltage into 5v | 1 | link | 87 | 87 | 2586.3 | |
| 11 | Switch | To power ON/OFF | 1 | link | 55 | 55 | 2641.3 | |
| 12 | Screw terminal | To connect battery | 1 | link | 25 | 25 | 2666.3 | |
| 13 | Capacitor 47uF | Caps to store energy | 3 | link | 17.89 | 53.67 | 2719.97 | |
| 14 | Capacitor 0.1uF | Caps | 10 | link | 16.00 | 160 | 2879.97 | |
| 15 | Female headers | To mount componenets | 3 | link | 8.5 | 25.50 | 2905.47 | |
| 16 | Male headers | To mount components | 2 | link | 25 | 50 | 2955.47 | |
| 17 | Tactile switch | To actually make mouse move | 1 | link | 20 | 20 | 2975.47 | |
| 18 | PCB | Acts as a chassis as well as electrical circuit | 1 | wherever you prefer | 3500 | 3500 | 6475.47 | |
| 19 | 3d print | Mounts for motors | 2 | wherever you prefer (use assets/CAD_design/Motot_mount.stp) | 500 | 1000 | 7475.47 |
Project Workflow
I have actually journalled everything from Day 1 till the end -- you can find them in the Devlogs folder.
Research and Development
- On the Day 1, i worked on researching the requirments for the project.
- On further days, i sourced online to find the suitable products and built the BOM (Bill of materials) -- which you can find here and also sketched a very rough diagram about the wiring.
Schematic
- From day 4, i worked on the Schematic design in Kicad. It's my very first time and i found it kinda hard at first.
- After some several iterations and struggles, with the help of chatGPT, i finished the 1st version of schematic on day 7
CAD design
- From Day 8, i worked on the CAD design of this project in Tinkercad
- After two days of CAD'ing, i somehow managed to capture the vision in my mind into the Screen. (Spoiler alert: Final result isn't the same as here)
PCB design
- After the completion of CAD design, i started to add footprints for all the componenets in kicad.
- I found it hard to understand the way footprint works in the consecutive days.
- During these days, i changed the IR sensors - from modules to separate transmiter. (Reason: Because the module provides only True or False output based on whether the obstacle is near or not)
- I completed the whole routing of PCB by the day 20, but then i found that esp32 has been misaligned and needs to be re-aligned.
- After two days of debugging, i completed the PCB (But still, I thought of adding some LED's into the PCB and mounting Pads for caster ball)
Front copper
Back copper
Final routing
PS: There's an easter egg in the PCB -- if you can find it out and DM me for prizes!! Instagram: @serwin.dev
Features
- Project Zacch uses two driven wheels and a non-driven caster ball for locomotion.
- It uses IR sensors and transmitter to wall sensing mechanism.
How to build?!
- Step 1: Check whether you have all the components
- Step 2: Order PCB and wait -- take some rest
- Step 3: Quickly assemble all the parts
- Step 4: Run firmware and GOOO!!!!
Future works
- Once the build is successful, the firmware of the project will commence.
- Using PID for staying in the center of the line.
Contributors
Resources
Special Credits
- All thanks to HackClub for making this project came into life through Fallout
Parts
37| Qty | Value | Footprint | References |
|---|---|---|---|
| 4 | 10k ohm | Resistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P7.62mm_Horizontal | R7, R8, R9, R10 |
| 4 | 120 ohm | Resistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P7.62mm_Horizontal | R1, R2, R3, R4 |
| 4 | LED | LED_THT:LED_D5.0mm_Clear | D1, D2, D3, D4 |
| 4 | MountingHole_3.2mm_M3 | MountingHole:MountingHole_3.2mm_M3 | Motor mount, Motor mount, Motor mount, Motor mount |
| 4 | Q_Photo_NPN | LED_THT:LED_D5.0mm_Clear | Q1, Q2, Q3, Q4 |
| 2 | C 0.1 | Capacitor_THT:C_Disc_D3.0mm_W1.6mm_P2.50mm | C1, C3 |
| 2 | MountingHole_2.5mm | MountingHole:MountingHole_2.5mm | Motor mount - ball, Motor mount - ball |
| 1 | 100 ohm | Resistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P7.62mm_Horizontal | R5 |
| 1 | 100k ohm | Resistor_THT:R_Axial_DIN0207_L6.3mm_D2.5mm_P7.62mm_Horizontal | R6 |
| 1 | BOOST | footprints:TPS61023 | Boost conv |
| 1 | Bat | TerminalBlock:TerminalBlock_MaiXu_MX126-5.0-02P_1x02_P5.00mm | Battery |
| 1 | C_Polarized 47 | Capacitor_THT:CP_Radial_D6.3mm_P2.50mm | C2 |
| 1 | DRV8833 | Connector_PinHeader_2.54mm:PinHeader_1x06_P2.54mm_Vertical | J1 |
| 1 | Esp32 | footprints:MODULE_ESP32_DEVKIT_V1 | Esp32 |
| 1 | GND | Connector_PinHeader_2.54mm:PinHeader_1x06_P2.54mm_Vertical | J14 |
| 1 | M1 Right | Connector_PinSocket_2.54mm:PinSocket_1x06_P2.54mm_Vertical | Motor B |
| 1 | M2 Left | Connector_PinSocket_2.54mm:PinSocket_1x06_P2.54mm_Vertical | Motor A |
| 1 | MOSFET | footprints:SOT95P280X125-3N | J15 |
| 1 | Switch | Button_Switch_THT:SW_Slide_SPDT_Straight_CK_OS102011MS2Q | Switch |
| 1 | Tact Switch | Button_Switch_THT:SW_PUSH_6mm_H5mm | Tact Switch |
Questions
How big is the Schema PCB?
It measures 90 × 127.1 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Schema use?
37 parts, built around the DRV8833PW. 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 Schema KiCad files?
From the Serwindev/micromouse repository on GitHub, at the commit this page was made from: the board is kiCad/schema/schema.kicad_pcb and its schematic kiCad/schema/schema.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Schema design in my own project?
Its repository states no licence, so its author keeps all rights: ask Serwindev before reusing the design.
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