4 layers70 × 99.9 mm
Micromouse
UBIEEE/FrankenMouse
FrankenMouse is a MicroMouse robot that was designed, built, and programmed from scratch by members of the University at Buffalo's IEEE Student Branch.
100 parts6MIT
4 layers80 × 87.6 mm
AratMicro
vorlaxen-labs/AratMicro1High-performance, open-source micromouse robot platform built for Robosam and MEB Robot (Ministry of National Education Robotics Competition, Turkey).
- Size
- 80 × 87.6 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 110
- Nets
- 93
- Pads
- 369
- Tracks, vias
- 101, 11
- Routed
- Yes
- KiCad
- KiCad 10.0 (file 20260206)
- Created
- 6 Aug 2026
- Updated
- 28 Aug 2026
Overview
AratMicro is an open-source printed circuit board by vorlaxen-labs, from the vorlaxen-labs/AratMicro repository on GitHub, published under the MIT licence. It is a 4-layer board of 80 × 87.6 mm with 110 parts on 93 nets, routed with 101 tracks and 11 vias.
It is built around the STM32F411CEU6, AP63203WU and DRV8833PWP, with the QRE1113, LSM6DS3 and PCA9554PW among its other parts. Its parts include 35 resistors, 31 capacitors, 10 diodes, 7 ICs and 7 transistors. It belongs with the robots and motor control boards and the STM32 boards of this library.
Main components
12
STM32F411CEU6
UFQFPN-48(7x7)-40℃~+85℃ 1.7V~3.6V 100MHz 128KB 12bit 32 Bit 36 512KB ARM Cortex-M4 Built-in FLASH UFQFPN-48(7x7) Microcontrollers (MCU/MPU/SOC) ROHSSTMicroelectronicsMicrocontrollers (MCU/MPU/SOC)
AP63203WU
TSOT-23-6-40℃~+85℃@(TA) 1 1.1MHz 22uA 2A 3.3V 3.8V~32V Buck Built-in Fixed Overcurrent Protection、Light load efficient mode、Cycle-by-cycle current limiting、Hiccup current limiting、EMI optimization (spread spectrum) Step-down type Yes TSOT-23-6 DC-DC Converters ROHSDiodes IncorporatedDC-DC Converters
DRV8833PWP
ETSSOP-16-EP-40℃~+85℃ 1.5A 2 2.7V~10.8V 2.7V~10.8V 360mΩ Bipolar Driver Overcurrent Protection、Short-Circuit Protection、Over temperature protection、Under-voltage lockout、Dead-time / shoot-through protection Yes ETSSOP-16-EP Stepper Motor Driver ROHSTexas InstrumentsStepper Motor Driver
QRE1113
DIP-41mm 20mA DIP-4 Reflective Optical Interrupters ROHSonsemiReflective Optical Interrupters
LSM6DS3
LGA-14(2.5x3)-40℃~+85℃ 1.71V~3.6V 8KB Accelerometer Gyroscope SPI、I2C X,Y,Z X,Y,Z ±16g ±2000dps LGA-14(2.5x3) Accelerometers ROHSSTMicroelectronicsAccelerometers
PCA9554PW
TSSOP-16-40℃~+85℃ 10mA 2.3V~5.5V 24mA 250nA 400kHz 4V 500mV 8 8 I2C、SMBus Interrupt Output Reset function、Cascading and address extension TSSOP-16 I/O Expanders ROHSNXP SemiconductorsI/O Expanders
SFH 4545
插件-40℃~+100℃ 1.5V 550mW/sr@IF=100mA 950nm Plugin Infrared LED Emitters ROHSOSRAM Opto SemiconInfrared LED Emitters
TEFT4300
插件,D=3mm-40℃~+100℃ 0.3V@0.1mA 100mW 1nA 50mA 70V 925nm NPN ±30° 插件,D=3mm Phototransistors ROHSVishay IntertechnologyPhototransistors
SI2302DS
SOT-231 N-channel 1.5V 2.8A 20V 270pF 83mΩ@4.5V、120mΩ@2.5V 880pF 900mW N-Channel SOT-23 MOSFETs ROHSTECH PUBLICMOSFETs
1812L260/16V
1812UncategorisedYTLAO3401A
SOT-231 P-Channel 14nC@10V 30V 47mΩ@10V、60mΩ@4.5V、85mΩ@2.5V 4A 55pF 645pF 80pF 900mV SOT-23 MOSFETs ROHSAlpha & Omega SemiconductorMOSFETs
SMAJ9.0A
DO-214AC(SMA)-55℃~+150℃ 15.4V 15.4V 26A 400W@10/1000us 5uA 9V TVS Unidirectional DO-214AC(SMA) ESD and Surge Protection (TVS/ESD) ROHSFTRESD And Surge Protection (TVS/ESD)
README
README.mdAratMicro
High-performance, open-source micromouse robot platform built for Robosam and MEB Robot (Ministry of National Education Robotics Competition, Turkey).
AratMicro is a competition-focused maze-solving robot with a custom PCB, wall-detection sensors, dual-encoder drive, and STM32F411-based firmware. Hardware and software are developed together; all design files are shared in this repository.
Competition target
This robot is designed to meet the maze-solving requirements of:
- Robosam — national robotics competition (micromouse / labyrinth category)
- MEB Robot — Ministry of National Education (MEB) robotics competition for schools
The mechanical dimensions, sensor layout, and control architecture are tuned for fast, reliable maze exploration and shortest-path solving under competition rules.
Features
| Area | Detail |
|---|---|
| MCU | STM32F411CEU6 — Cortex-M4 @ 100 MHz, 512 KB Flash, 128 KB RAM |
| Motor driver | DRV8833 — dual-channel H-bridge |
| Wall sensors | 4× IR receivers + 4× IR LEDs (front left/right, left, right) |
| Maze solver | Flood fill (16×16 grid) |
| Position feedback | Left/right quadrature encoders (L_ENC_A/B, R_ENC_A/B) |
| I/O expansion | PCF8574AP — I2C GPIO expander |
| Power | 2S LiPo → AP63203WU buck (3.3 V logic), separate motor rail |
| Programming | ST-Link SWD (PA13/PA14), optional UART Bluetooth |
| Firmware | PlatformIO + Arduino framework, C++17 |
Mechanical (target parts)
| Part | Size | Notes |
|---|---|---|
| Motor | 40 × 12 × 17 mm | 3 mm D-shaft |
| Wheel | 32 × 7 mm | 3 mm D-shaft |
Mechanical CAD files are not yet included. Dimensions were chosen to match the PCB and drivetrain layout.
Repository layout
AratMicro/
├── hardware/
│ └── pcb/ # KiCad 10 schematics and PCB (AratMicro.kicad_pro)
├── software/
│ ├── src/ # Firmware source code
│ ├── include/ # Public API headers
│ ├── lib/ # PlatformIO module libraries
│ ├── test/ # Host-side unit tests (Unity)
│ ├── docs/ # Architecture and hardware reference
│ └── platformio.ini
├── LICENSE
└── CONTRIBUTING.mdQuick start
Requirements
- PlatformIO (VS Code extension or CLI)
- ST-Link V2 (or compatible programmer)
- KiCad 10.x (for hardware edits)
Build and upload firmware
cd software
pio run -e aratmicro_f411
pio run -e aratmicro_f411 -t uploadHost tests
Algorithms and core logic can be tested on the host:
cd software
pio test -e nativeHardware
KiCad project: hardware/pcb/AratMicro.kicad_pro
Schematic sub-sheets:
| Sheet | File | Contents |
|---|---|---|
| Power Supply | power_supply.kicad_sch | 2S LiPo input, buck, protection |
| MCU | mcu.kicad_sch | STM32F411, clocks, SWD, I/O |
| Motor Controller | mc.kicad_sch | DRV8833 motor driver |
| Sensor Unit | su.kicad_sch | IR wall-detection circuit |
Full BOM and signal list: hardware/README.md
Software architecture
Firmware is organized in layers:
- core — Hardware-independent application lifecycle
- platform — Time and pin abstractions
- lib/ — Motor, IMU, maze solver modules (planned)
Details: software/docs/architecture.md
Status
| Component | Status |
|---|---|
| PCB schematic | Active development |
| PCB layout | Active development |
| Firmware skeleton | Available |
| Motor driver code | Planned |
| Wall sensor code | Planned |
| Maze solver (flood fill) | Available (host-tested) |
| Mechanical CAD | Planned |
Contributing
Contributions are welcome. Please read CONTRIBUTING.md.
License
This project is released under the MIT License — hardware and software may be used, modified, and shared freely.
Parts
110| Qty | Value | Footprint | References |
|---|---|---|---|
| 13 | 100nF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C5, C9, C17, C21, C25, C26, C27, C28, C30, C33, C34, C35, C36 |
| 7 | 10K | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R8, R17, R20, R29, R31, R34, R36 |
| 5 | 2.2K | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R7, R37, R38, R39, R40 |
| 5 | 4.7K | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R9, R41, R42, R43, R44 |
| 5 | LED | LED_SMD:LED_0805_2012Metric_Pad1.15x1.40mm_HandSolder | D3, D4, D5, D6, D7 |
| 4 | 1K | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R11, R12, R13, R14 |
| 4 | 22Ohm | Resistor_SMD:R_1206_3216Metric_Pad1.30x1.75mm_HandSolder | R21, R22, R23, R30 |
| 4 | SFH4545 | LED_THT:LED_D5.0mm_Horizontal_O1.27mm_Z15.0mm | D9, D10, D11, D12 |
| 4 | TEFT4300 | LED_THT:LED_D3.0mm_IRBlack | Q4, Q5, Q6, Q7 |
| 3 | 22uF | Capacitor_SMD:C_1206_3216Metric_Pad1.33x1.80mm_HandSolder | C3, C7, C8 |
| 2 | 0.1uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C24, C29 |
| 2 | 0.22Ohm | Resistor_SMD:R_1206_3216Metric_Pad1.30x1.75mm_HandSolder | R15, R16 |
| 2 | 100Ohm | Resistor_SMD:R_1206_3216Metric_Pad1.30x1.75mm_HandSolder | R26, R27 |
| 2 | 100Ohm | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R28, R35 |
| 2 | 15pF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C39, C40 |
| 2 | 22pF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C37, C38 |
| 2 | 4.7uF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C10, C11 |
| 2 | Conn_01x06 | Connector_PinHeader_2.54mm:PinHeader_1x06_P2.54mm_Vertical | J3, J4 |
| 2 | QRE1113 | OptoDevice:OnSemi_CASE100AQ | U4, U5 |
| 2 | SI2302DS | Package_TO_SOT_SMD:SOT-23 | Q1, Q2 |
| 2 | SW_Push | Button_Switch_SMD:SW_SPST_B3U-3000P | SW4, SW5 |
| 1 | 0Ohm | Resistor_SMD:R_1206_3216Metric_Pad1.30x1.75mm_HandSolder | R6 |
| 1 | 100uF | Capacitor_SMD:C_1206_3216Metric_Pad1.33x1.80mm_HandSolder | C4 |
| 1 | 10nF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C22 |
| 1 | 10uF | Capacitor_SMD:C_1206_3216Metric_Pad1.33x1.80mm_HandSolder | C2 |
| 1 | 10uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C32 |
| 1 | 1812L260/16 | Fuse:Fuse_1812_4532Metric | F1 |
| 1 | 1nF | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | C6 |
| 1 | 1uF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C12 |
| 1 | 2.2Ohm | Resistor_SMD:R_1206_3216Metric_Pad1.30x1.75mm_HandSolder | R5 |
| 1 | 2.2uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C23 |
| 1 | 2S LiPo Connector | Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical | P1 |
| 1 | 3.9uH | Inductor_SMD:L_Sunlord_SWPA4030S | L1 |
| 1 | 32.768 kHz Crystal | Crystal:Crystal_SMD_3225-4Pin_3.2x2.5mm_HandSoldering | Y4 |
| 1 | 39K | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R3 |
| 1 | 8.2K | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R4 |
| 1 | 8MHz Crystal | Crystal:Crystal_SMD_3225-4Pin_3.2x2.5mm_HandSoldering | Y3 |
| 1 | AO3401A | Package_TO_SOT_SMD:SOT-23 | Q3 |
| 1 | AP63203WU | Package_TO_SOT_SMD:TSOT-23-6 | U1 |
| 1 | Conn_01x05 | Connector_PinHeader_1.00mm:PinHeader_1x05_P1.00mm_Vertical | J1 |
| 1 | Conn_01x06 | Connector_PinHeader_1.00mm:PinHeader_1x06_P1.00mm_Vertical | J2 |
| 1 | DRV8833PWP | Package_SO:HTSSOP-16-1EP_4.4x5mm_P0.65mm_EP3.4x5mm_Mask2.46x2.31mm_ThermalVias | U3 |
| 1 | LSM6DS3 | Package_LGA:LGA-14_3x2.5mm_P0.5mm_LayoutBorder3x4y | U6 |
| 1 | PCA9554PW | PCA9554PW:SOP65P640X120-16N | U8 |
| 1 | SMAJ9.0A | Diode_SMD:D_SMA | D1 |
| 1 | STM32F411CEU6 | Package_DFN_QFN:QFN-48-1EP_7x7mm_P0.5mm_EP5.6x5.6mm | U2 |
| 1 | SW_SPDT | Button_Switch_SMD:SW_SPDT_PCM12 | SW1 |
The 102 most common of 110 parts.
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Questions
How big is the AratMicro PCB?
It measures 80 × 87.6 mm and has 4 copper layers, 1.6 mm thick.
What parts does the AratMicro use?
110 parts, built around the STM32F411CEU6, AP63203WU, DRV8833PWP and QRE1113. 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 AratMicro KiCad files?
From the vorlaxen-labs/AratMicro repository on GitHub, at the commit this page was made from: the board is hardware/pcb/AratMicro.kicad_pcb and its schematic hardware/pcb/AratMicro.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the AratMicro design in my own project?
Its repository publishes it under the MIT licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).