Mainboard PCB schematic done...?

So the mainboard is honestly really simple. It's got an esp32, neopixel for status, stemmaQT, 5 pin out connector for a brushless ESC, and 2 brushed motor outputs. I tried to fit a third brushed ESC in, but the Xiao just doesn't have enough pins and I don't want to deal with the extra costs & size.

Routing is going to be hell lol. Not excited to do that part of things, but whatever. Schematic for board 1 of 4: Done.

• Mainboard
• Brushless ESC, hopefully simpleFOC capable
• Controller
• E-Stop FMS version
• E-Stop stupid version

The controller will have an rj11 on it to connect to the FMS E-Stop which will have 4x rj11's on it. During a match, the robots will establish an esp-now connection to the FMS E-Stop, which the controllers will communicate through. This way, any controls sent can be forcibly stopped or overrode. Safety is cool, yall.

The stupid e-stop is something that will have 2 rj11's on it and will act in a stupid way and be cheap to manufacture. You'll be able to connect it to just the controller and have it be capable of stopping the robot and controls, or it can be daisy-chained in between the controller and an FMS e-stop to allow for multiple e-stops to be used.

The FMS e-stop will also be connected to a raspberry pi operating a match status screen, showing battery and telemetry info for all connected robots, plus a match timer. This is definitely a code-heavy project but it should end up pretty awesome.

I'll also be building a simple library for robot control. Ideally, the hackathon attendees will be able to put maybe 20 lines of code on their bot and controller, then it'll be ready to run. If they want though, they'll be able to go in-depth and create fully custom subroutines and a complex machine. The stemmaQT means people can also connect other things, practically infinitely, and integrate them. It'll be sick.

Brushed ESC schematics :3

So this project is something I'm going to actually be buying a few hundred of and Blueprint is how I'm going to get the first test boards.

The malenki nano LINKME is a really common control board for 150g combat robots. It's also a little expensive and much less common for 350g plantweight robots.

This is the first part, a mainboard to go in the bot itself. It's effectively 2 brushed esc's, an esp32, with a dedicated PWM out for a brushless ESC or servo. It'll also have a stemmaQT port built in for future expansion purposes. Here's the brushed ESC design. Very simple and very similar to the Malenki Nano's brushed ESC design, but it's actually capable of slightly higher amperage and better sleeping.

Right now I'm deciding if I need 2 or 3 of these. Probably going to stick a third on if there's space and GPIO available.