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PCB Board Gallery

Here are the some PCB boards custom designed. All the designs were done through Python-based hardware description language (HDL) PolymorphicBlocks.

Great thanks to Ducky for helping and reviewing the pcb designs.

BALLU

  • ballu2 front ballu2 back

    BALLU Gen2 PCB Board

    Upgraded sensor arrays and Lora sub-G communication compatible

    Change from Gen 1
    • x2 generic 10 pin FPC connectors for external devices (Lora and contact sensors)
    • Pressure/air sensor
    • High-end IMU
    • Battery sensing
    • Power reverse protection
    • Enhanced User interface
    • 23% less weight
    Components
    • MCU: ESP32-S3
    • Sensors:
      • 6-axis IMU (LSM6DSV16XTR)
      • BME680 Pressure/Air monitor
      • INA219 power sensing
      • A31301 3D hall effect sensor (thru expansion cable)
    • UI: OLED screen, Directional switch, RGB LED, Red/Blue LED
    • Motor: x2 PWM servo
    • Power: Lipo, 3.3v reg, Charging circuit, Software Power Switch, Reverse protection
    • USB-C: programming, power supply, and charging.
    • FPC Connectors: x2 10 pin 0.5mm pitch cables with I2c, SPI, GPIO, gnd, v3v3, vbatt
    • 6 layer board

  • ballu front ballu back

    BALLU PCB Board

    Fully integrated board that includes microprocessor and all sensors in one board

    Components
    • MCU: ESP32-S3
    • Sensors: 9-axis IMU (LSM6DS3TRC and QMC5883L) Voltage sensing.
    • UI: OLED screen, Directional switch, Speaker, RGB LED
    • Motor: x2 PWM servo
    • Power: Lipo, 3.3v reg, Charging circuit, Software Power Switch
    • USB-C: programming, power supply, and charging.
    • 4 layer board

  • ballu2 front

    Lora Sx1262 Communication Board

    Lora Sx1262 based sub-GHz communication board (915Hz)

    Components
    • MCU: None (For BALLU Gen2)
    • Lora Sx1262
    • 2 layer
    Acknowledgement
    • Special thanks to Ducky for providing reference design and advising
    • Special thanks to Eric for placement and routing

  • ballu2 front

    Lora Communication Daughter Board

    STM32G4 based daughter board for BALLU to add Lora Sx1272 based sub-GHz communication board

    Components
    • MCU: STM32G431 (For BALLU Gen2)
    • Programmer pins, status LED
    • x2 SPI to the Sx1272 based sub-G communication board
    • x1 SPI to BALLU Gen2 board
    • 2 layer

MAGPIE

  • magpie gen2 front

    MAGPIE Gen2 PCB Board

    Integrated PCB for MAGPIE 3D hall effect based 8-axis force sensing and BLDC driver

    Components
    • MCU: ESP32-S3
    • Power: USB-C & LiPo (7.4–26V) with 4.5V, 3.3V, 3.0V, 2.5V, 1.2V regulation
    • Sensors: INA219 power sensing, 6-axis IMU, FPC 3D hall sensor connectors
    • Display: Circular TFT touch screen
    • Camera: OV2640 FPC module
    • Motor: BLDC driver
    • UI: Circular color touch screen, RGB LED, directional switch,
    • Ports: CAN bus, Wif./pcb/BLE, Dual IO expanders, x2 FPC I2C
    • 6 Layer PCB

  • magpie gen2 sub front

    MAGPIE Daughter PCB Board

    W/ MAGPIE Sensor Flex PCB

    Secondary board for magnetic sensor breakout with contact indicators. 3D hall effect sensor on Flex PCB

    Components
    • Sensor: upto x2 A31301 through FPC with digital I2C addresser.
    • UI: x6 RGB LED Neopixel array for contact indication.
    • Connectivity: FPC connectors (1 in, 2 out) Routes I2C, power, and digital signals from FPC.
    • Flex PCB with a gold finger, which can be connected to the main board directly

  • magpie front magpie back

    MAGPIE Prototype PCB Board

    Prototype MAGPIE PCB board

    Components
    • MCU: ESP32-S3 for programming, power, and charging via USB-C
    • Power: LiPo (7.4–28V) with 4.5V & 3.3V regulation and battery sensing
    • Sensors: 9-axis IMU, Qmc5883l magnetometer, and x4 FPC magnetic sensor connectors
    • UI: OLED screen, side-firing Neopixel array, and dual debug LEDs (red/blue)
    • Controls: Digital directional switch
    • Motor: BLDC driver (MCF8316A1VRGFR)
    • 4 layer board

Estop

  • estop front estop back

    ESTOP PCB Board

    Wireless Bluetooth/Wifi E-stop for high-current multi-cell batteries

    Components
    • MCU: ESP32-S3
    • Power: USB-C & LiPo (7.4–28V, up to 20A) with 4.5V, 3.3V, 12V, and 5V regulators
    • Battery: High-side MOSFET switch, voltage/current sensing, upto 6-cell monitoring
    • UI: OLED display, directional switch, RGB LED, speaker (Max98357a)
    • Connectors: JST for 3.3V/12V/5V outputs, XT60 LiPo, and 6-pin E-stop button

PCBbot

  • PcbBot front

    PCBBOT PCB Board

    Robot driver board featuring an ESP32-S3 with camera support and student-proofing.

    Components
    • MCU: ESP32-S3 with USB programming
    • Power: USB-C & LiPo (3.7–4.2V) with series fuse, Fet power gate
    • Regulation: 3.3V supply with additional 2.5V and 1.2V rails for camera.
    • Charging: MCP73831 charger with yellow LED indicator via USB-C.
    • Sensors: 4× VL53L0x ToF array, 9-axis IMU.
    • UI/I/O: OLED display, debug LED, touch input, and IO expander for ToF control and RGB LED.
    • Actuators: 4 PWM connectors for servos
    • Camera: OV2640 FPC camera.
    Acknowledgement
    • Special thanks to Ducky for the design and placement

Sensors and Chargers

  • magpie front

    Lipo Charger Board

    • Reverse protected 1 Cell Lipo Charger
    • Reverse protected load port

  • magpie front

    Magnetic Encoder PCB Boards

    Ring Magnet encoder PCB Boards compatible with CubeMars and MAB Robotics