webertom6/pi-protobotMobile robot capable of autonomously navigating while avoiding obstacles and dead ends
PI make is an open-source printed circuit board by webertom6, from the webertom6/pi-protobot repository on GitHub, published under the MIT licence. It is a 2-layer board of 60.8 × 90.3 mm with 49 parts on 59 nets, routed with 349 tracks and 219 vias.
It is built around the PIC18F4331-I/PT and LM2940S-5.0. Its parts include 16 resistors, 10 connectors, 6 capacitors, 4 diodes and 3 ICs. It belongs with the PIC boards of this library.
The team (Florent Boxus, Alex Rousseau, Anes Skrijelj, Maxime Temoschenko, Tom Weber) designed and built Protobot, a mobile robot capable of navigating autonomously while avoiding obstacles and dead ends. The robot interprets sensor data to adapt its path dynamically, using a finite state machine and PI control loops to manage motor speed and direction. (see demo in video folder if not showing)
PIC microcontroller for real-time decision-making
Ultrasonic sensors to detect obstacles
Speed encoders to measure wheel rotation
Motor driver (L293D) to control movement
LCD display to show system status
Custom-designed PCB for compact and reliable hardware integration
Programming in Assembly language for PIC microcontrollers
Implementation of interrupt-driven architecture and round-robin scheduling
Real-time control using PI controllers for motor speed regulation
Design of a finite state machine for navigation decisions
Implementation of sequential sensor polling for reliable distance measurement
Handling edge cases like sensor failure and timer overflow
Planning and budgeting for components
Risk assessment and mitigation strategies
Collaboration and iterative design improvements
| Qty | Value | Footprint | References |
|---|---|---|---|
| 8 | TestPoint | Connector_PinHeader_2.54mm:PinHeader_1x01_P2.54mm_Vertical | TP1, TP2, TP3, TP4, TP5, TP7, TP9, TP10 |
| 7 | 10k | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R1, R6, R8, R10, R12, R13, R16 |
| 4 | 1k | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R3, R5, R9, R11 |
| 3 | 100nF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C4, C5, C6 |
| 3 | 220 | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R2, R4, R7 |
| 3 | Conn_01x02 | Connector_PinSocket_2.54mm:PinSocket_1x02_P2.54mm_Vertical | J2, J3, J19 |
| 3 | LED | LED_SMD:LED_0805_2012Metric_Pad1.15x1.40mm_HandSolder | D2, D3, D4 |
| 1 | 0.47µF | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C1 |
| 1 | 1.5k | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R15 |
| 1 | 100nf | Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder | C3 |
| 1 | 1N4001 | Diode_THT:D_DO-41_SOD81_P10.16mm_Horizontal | D1 |
| 1 | 22µF | Capacitor_SMD:CP_Elec_6.3x7.7 | C2 |
| 1 | 9.1k | Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder | R14 |
| 1 | Conn_01x08 | Connector_PinSocket_2.54mm:PinSocket_1x08_P2.54mm_Vertical | J1 |
| 1 | FerriteBead | Inductor_SMD:L_0805_2012Metric_Pad1.15x1.40mm_HandSolder | FB1 |
| 1 | HC_FRONT | Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical | J5 |
| 1 | HC_left | Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical | J4 |
| 1 | HC_right | Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical | J6 |
| 1 | L293 | Package_DIP:DIP-16_W7.62mm | U5 |
| 1 | LCD | Connector_PinSocket_2.54mm:PinSocket_1x16_P2.54mm_Vertical | J18 |
| 1 | LM2940S-5.0 | Package_TO_SOT_SMD:TO-263-3_TabPin2 | U4 |
| 1 | PIC18F4331-IP | Package_DIP:DIP-40_W15.24mm | U6 |
| 1 | SE_LEFT | Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical | J8 |
| 1 | SE_RIGHT | Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical | J9 |
| 1 | SW_Push | Button_Switch_THT:SW_PUSH_6mm | SW1 |
It measures 60.8 × 90.3 mm and has 2 copper layers, 1.6 mm thick.
49 parts, built around the PIC18F4331-I/PT and LM2940S-5.0. 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 webertom6/pi-protobot repository on GitHub, at the commit this page was made from: the board is PCB/PI_make.kicad_pcb and its schematic PCB/PI_make.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
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).
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