4 layers36 × 50.2 mm
Racer
StuckAtPrototype/Racer
These are structured into their own files. I could have used submodules, but decided against it.
83 parts3.8kApache-2.0
4 layers15.2 × 9 mm
Sensors
StuckAtPrototype/Racer3.8kThese are structured into their own files. I could have used submodules, but decided against it.
- Size
- 15.2 × 9 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 14
- Nets
- 10
- Pads
- 39
- Tracks, vias
- 75, 12
- Pours
- 1
- Routed
- Yes
- KiCad
- KiCad 8.0 (file 20240108)
- Created
- 15 Oct 2024
- Updated
- 1 Feb 2026
Overview
Sensors is an open-source printed circuit board by StuckAtPrototype, from the StuckAtPrototype/Racer repository on GitHub, published under the Apache-2.0 licence. It is a 4-layer board of 15.2 × 9 mm with 14 parts on 10 nets, routed with 75 tracks and 12 vias.
It is built around the OPT4060DTSR and HAL1501SU-A. Its parts include 6 resistors, 3 capacitors, 2 ICs, 2 diodes and 1 connector. It belongs with the sensors and measurement boards of this library.
Main components
2README
README.mdMicro Racer Car - StuckAtPrototype
thank you for the overwhelmingly positve support!! such an inspiration to keep making fun open source content!
New Youtube video about improvements
Lots of new improvements and I am now selling a kit for these! Check out the video here:
https://www.youtube.com/watch?v=FulhEs5R5WU
Original Youtube Video
A bit of a back-story of how this project came to be.
Sub if you like what you see.
Some pictures of the project
Hardware Remote for this car
https://github.com/StuckAtPrototype/Thumbtroller
Project Structure
The project consists of
- Firmware
- Hardware
- Mechanical
- Scripts
These are structured into their own files. I could have used submodules, but decided against it.
1. Firmware
Code for the little car. This lives on the ESP32
Requirements
- ESP32 IDF version 5.3.1
- USB to Serial dongle
- Target set to ESP32-H2
2. Hardware
Schematic
PDF schematic included for your viewing pleasure.
PCBs
All the gerber files you'd need to send to a fab house.
Kicad
All the files you'd need to expand and work on this further. If you'd like.
3. Mechanical
Enclosure
All the step files you need to make one of these. Extrusion printer works well for this part.
Wheels
A bit of caution on this one.. you'll need an SLA printer.
4. Scripts
Did anyone say neural networks?
This folder has all the python code you'd need to train up your own neural network for the car. It also consists scripts that let you drive it using a keyboard -- just in case you dont want to make a physical controller.
Requirements
- Python 3
- You'll need to install a bunch of pip modules
Training the neural network
Training the neural network is as simple as running the training script with the data in the color_data.txt file. For data format see the sample data in the file. You need to stick to the formatting.
To train run python trainer.py
Keyboard controller
To run the script python controller.py
Use w s a d for control. Modify the script for different speeds, etc
Protocol for motor control
60,1,60,1,5 -- translates to:
motor side A: speed 60, direction forward
motor side B: speed 60, direction forward
500 miliseconds run time
See firmware file motor.c if you need more details
What the project could use
- Cleanup, but thats true for almost anything out there
- Some fun code that makes the little car drive using the color sensor -- think very fancy line follower
- LLM integration -- ChatGPT driving a physical little robot? anyone? :)
If you take it further
Let me know if you ever make one of these, I'd love to see it. Seriously, that'd be exciting and inspiring to keep making my projects open source!
License
Apache 2.0 -- i.e. use as you'd like
http://www.apache.org/licenses/LICENSE-2.0
Special Thanks
Thanks to Michael Angerer for his open sourced esp32_ble_ota project. I used it to get BLE running in this project. His blog post and github repo are a great resource. Check it out. https://github.com/michael-angerer/esp32_ble_ota
Parts
14| Qty | Value | Footprint | References |
|---|---|---|---|
| 4 | 10K | Resistor_SMD:R_0603_1608Metric | R3, R4, R5, R6 |
| 2 | 0.1uF | Capacitor_SMD:C_0603_1608Metric | C1, C2 |
| 2 | 470 | Resistor_SMD:R_0603_1608Metric | R1, R2 |
| 2 | LED | LED_SMD:LED_0603_1608Metric | D1, D2 |
| 1 | 4.7uF | Capacitor_SMD:C_0603_1608Metric | C3 |
| 1 | Conn_02x03_SMT | Connector_PinHeader_1.27mm:PinHeader_2x03_P1.27mm_Vertical_SMD | J1 |
| 1 | HAL1501SU-A | custom_IC:SOT-23_TO-236_TDK | U2 |
| 1 | OPT4060DTSR | custom_IC:FCSOT8_DTS_TEX | U1 |
More from StuckAtPrototype/Racer
2- 4 layers29 × 74 mm
Controller
StuckAtPrototype/Racer
These are structured into their own files. I could have used submodules, but decided against it.
66 parts3.8kApache-2.0
Similar boards
- 4 layers15.2 × 9 mm
Sensors
johndoe6345789/Racer
These are structured into their own files. I could have used submodules, but decided against it.
14 parts - 4 layers25.5 × 46.5 mm
TremorWatch
hackclub/OnBoard
💡 Join 1,000 teenagers and make your first PCB with a $100 grant!
14 parts915 - 4 layers81 × 46 mm
XTMAX PCB
MicroCoreLabs/Projects
Ted Fried's MicroCore Labs Projects - FPGA CPU cores and emulators for the 8088, 8086, 8051, 6502, 68000, Z80, Risc-V, and also Typewriter and EPROM Emulator projects.
14 parts534 - 4 layers22 × 42 mm
- 4 layers64 × 46.5 mm
DSC Scan Selector
nanographs/Open-Beam-Interface
Just what you need to control the beam and get an image.
14 parts371 - 4 layers65.2 × 61.4 mm
Pi 400 gpio breakout
CRImier/MyKiCad
My KiCad boards. Can't be bothered uploading individually anymore, so here you go.
14 parts253GPL-3.0 - 4 layers20 × 23 mm
- 4 layers
Trill ring
BelaPlatform/Trill
Trill sensors are designed to bring beautiful touch interaction to digital projects. Trill sensors are available now on the Bela Shop and via Mouser Electronics.
14 parts77
Questions
How big is the Sensors PCB?
It measures 15.2 × 9 mm and has 4 copper layers, 1.6 mm thick.
What parts does the Sensors use?
14 parts, built around the OPT4060DTSR and HAL1501SU-A. 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 Sensors KiCad files?
From the StuckAtPrototype/Racer repository on GitHub, at the commit this page was made from: the board is hardware/racer-sensors/sensors.kicad_pcb and its schematic hardware/racer-sensors/sensors.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Sensors design in my own project?
Its repository publishes it under the Apache-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).