roamer-bot
kylestew
A small SLAM capable robot built on the Pololu Romi chassis
Components (37)
| Reference | Value | Description |
|---|---|---|
| Q1 | AO3401A | -4.0A Id, -30V Vds, P-Channel MOSFET, SOT-23 |
| Q2 | AO4407A | AO4407A 30V P-channel MOSFET, SOIC-8; physical pins 1-3 source, pin 4 gate, pins 5-8 drain |
| U1 | STM32F103CBT6 | STMicroelectronics Arm Cortex-M3 MCU, 128KB flash, 20KB RAM, 72 MHz, 2.0-3.6V, 37 GPIO, LQFP48 |
| U2 | USBLC6-2SC6 | Very low capacitance ESD protection diode, 2 data-line, SOT-23-6 |
| U3,U4 | DRV8838 | H-Bridge driver, 1.8A, Low Voltage, PH/EN input, WSON-8 |
| U5 | LMR51430XDDCR | 4.5-V to 36-V, 3-A synchronous buck converter with 40-µA IQ, SOT-23-6 |
| BT1 | BATT (4xAA) | Multiple-cell battery |
| BT2 | BATT (2xAA) | Multiple-cell battery |
| C1,C2 | 10p | Unpolarized capacitor |
| C3-C7,C9,C11,C12,C14,C15,C18,C19 | 100n | 0.1uF, 16V or 25V, X7R, 0402/0603,0.1uF, 25V+, X7R/X5R, local VIN bypass,Unpolarized capacitor |
| C8,C10,C13,C17 | 10u | 10uF MLCC, X7R, 25V, +/-10%,10uF, 25V+, X7R/X5R, local VIN bulk,Unpolarized capacitor |
| C16 | 220u | Aluminum electrolytic or aluminum polymer, polarized, 25V, 105 C, low ESR |
| C20,C21 | 22u | 22uF, 25V, X7R/X5R, 1206 preferred |
| C22 | 10n | STM32F103 VDDA high-frequency bypass: 10 nF ceramic, X7R preferred, 10 V or higher, 0402 recommended; connect across VDDA/VSSA and place immediately adjacent to U1 pins 9/8 with the shortest possible loop, with this 10 nF capacitor closest to the pins |
| C23 | 1u | STM32F103 VDDA local decoupling: 1 uF ceramic, X5R or X7R, 10 V or higher, 0603 recommended; 0402 is acceptable only when its DC-bias effective capacitance is adequate; connect across VDDA/VSSA and place immediately adjacent to U1 pins 9/8 with a short ground return |
| D1 | PWR_ON_LED | Light emitting diode |
| D2 | STATUS | Light emitting diode |
| F1 | PTC_2.6A_16V | 16 V, ~2.5-2.6 A |
| J1 | Conn_ARM_JTAG_SWD_10 | Cortex Debug Connector, standard ARM Cortex-M SWD and JTAG interface |
| J2 | USB_C_Receptacle_USB2.0_16P | USB 2.0-only 16P Type-C Receptacle connector |
| J3 | CONN_MOTOR_R | Generic connector, single row, 01x06, script generated (kicad-library-utils/schlib/autogen/connector/) |
| J4 | CONN_MOTOR_L | Generic connector, single row, 01x06, script generated (kicad-library-utils/schlib/autogen/connector/) |
| L1 | 5.6u | SWPA8065S5R6MT, 5.6uH ±20%, Isat 8.0A min, Irms 4.5A min, DCR 26mΩ max |
| R1,R10,R11,R14,R15 | 10k | 10k, 1%, 100mW, 0603 thick film resistor,Resistor, small symbol |
| R5 | 1k5 | Resistor |
| R6,R7 | 5k1 | Resistor |
| R12,R13,R16,R18,R22 | 100k | -55℃~+155℃ 100kΩ 100mW 75V Thick Film Resistor ±1%,LMR51430 upper feedback resistor (+3V3 to FB): 100kΩ, ±1% or better, low temperature coefficient; place close to U5 FB and route away from the SW node and inductor; standard 0402 power rating is sufficient,Resistor, small symbol |
| R17 | 33k | Resistor, small symbol |
| R19 | 22.1k | LMR51430 lower feedback resistor (FB to GND): 22.1kΩ, ±1% or better, low temperature coefficient; place close to U5 FB with a quiet ground return and route away from the SW node and inductor; standard 0402 power rating is sufficient |
| R20,R21,R23 | 1k | Resistor |
| SW1 | SW_Push | Push button switch, generic, two pins |
| SW2 | SK-3296S-01-L2 | |
| TP1 | TP_3V3 | test point |
| TP2 | TP_GND | test point |
| TP3 | TP_BAT | test point |
| TP4 | TP_BAT_SW | test point |
| Y1 | 16Mhz | Four pin crystal, GND on pins 2 and 4 |