# Relative Harlequin Robot Vacuum ## Description ATmega328P Dual Sabertooth Motor Controller Interface with Encoder Feedback and Protected 5V Input (KiCad 9, Compact Design) ## Project Details - **Owner:** certy - **Created:** 11/3/2025 - **Last Updated:** 11/4/2025 - **Visibility:** Public - **Placement Approach:** Auto-Layout placement - **minX:** -235.8mm - **maxX:** 405.6mm - **PCB Stackup:** Standard 4 Layer - **System Architecture:** flowchart LR subgraph MCU U1(ATmega328P) end subgraph "Power Protection" D1[Schottky Diode] TVS[TVS Diode] PTC[Fuse (PTC)] end subgraph "Sabertooth Drivers" S1[Sabertooth Driver 1] S2[Sabertooth Driver 2] end subgraph "Encoder Inputs" E1[Encoder A] E2[Encoder B] end D1 -->|5V Input| U1 TVS --> U1 PTC --> U1 U1 -->|Control1| S1 U1 -->|Control2| S2 E1 --> U1 E2 --> U1 | - **Lock Net Names:** true - **L3 Power Plane:** VCC - **maxY:** 366.7mm - **L2 Power Plane:** GND - **ERC_Review:** [ERC] No airwires detected. Power, reset, and decoupling nets are connected correctly. Pull-ups present on RESET and encoder lines. All decoupling, power rating, and voltage rating rules are met. No conflicting GND ties on encoder signals. All passives conform to footprints and voltage/current requirements. All primary connectors (Sabertooth and encoder) are mapped, with no missing or incorrect pin assignments. All placed footprints are available for PCB layout. Board ready for ground pour and auto-placement. - **minY:** -435mm - **Ground Pour Convention:** Pour ground on layers L2 and L3 with thermal spokes ## Key Components ### D1 — [Schottky Diode](https://www.flux.ai/corynrobinson/schottky-diode~hs.md) - Datasheet URL: https://www.onsemi.com/pdf/datasheet/mbr0520lt1-d.pdf - Part Type: Diode - Manufacturer Name: onsemi - Role Details: Reverse polarity protection for 5V input - Breakdown Voltage: 20V - Package or Case Code: SOD-123 - Current: 0.5A - Purchase Url: https://octopart.com/mbr0520lt1g-onsemi-2933?r=sp - Role: Protection - Manufacturer Part Number: MBR0520LT1G **Pins:** - A - K ### J1 — [640456-6](https://www.flux.ai/adrian95/640456-6~oy5.md) - Role Details: ICSP 6-pin header - Part Type: Connector - Package or Case Code: PinHeader_1x06_P2.54mm_Vertical - Role: Programming Interface - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Name: TE Connectivity AMP Connectors - Datasheet URL: https://www.te.com/usa-en/product-640456-6.datasheet.pdf - Manufacturer Part Number: 640456-6 **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] - 4 [pin 4] - 5 [pin 5] - 6 [pin 6] ### J2 — [640456-6](https://www.flux.ai/adrian95/640456-6~oy5.md) - Role: Connector - Package or Case Code: PinHeader_1x06_P2.54mm_Vertical - Part Type: Connector - Datasheet URL: https://www.te.com/usa-en/product-640456-6.datasheet.pdf - Manufacturer Part Number: 640456-6 - Role Details: Sabertooth driver control input header, 6-pin 0.1" pitch - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Name: TE Connectivity AMP Connectors **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] - 4 [pin 4] - 5 [pin 5] - 6 [pin 6] ### J3 — [640456-6](https://www.flux.ai/adrian95/640456-6~oy5.md) - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Name: TE Connectivity AMP Connectors - Datasheet URL: https://www.te.com/usa-en/product-640456-6.datasheet.pdf - Role: Connector - Manufacturer Part Number: 640456-6 - Role Details: Sabertooth driver control input header, 6-pin 0.1" pitch - Part Type: Connector - Package or Case Code: PinHeader_1x06_P2.54mm_Vertical **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] - 4 [pin 4] - 5 [pin 5] - 6 [pin 6] ### J4 — [B3B-XH-A(LF)(SN)](https://www.flux.ai/adrian95/b3b-xh-alfsn~ylc.md) - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: Encoder signal input header, 3-pin JST-XH vertical - Datasheet URL: https://www.jst-mfg.com/product/pdf/eng/eXH.pdf - Role: Connector - Manufacturer Name: JST Sales America Inc. - Package or Case Code: JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical - Part Type: Connector - Manufacturer Part Number: B3B-XH-A(LF)(SN) **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] ### J5 — [B3B-XH-A(LF)(SN)](https://www.flux.ai/adrian95/b3b-xh-alfsn~ylc.md) - Manufacturer Part Number: B3B-XH-A(LF)(SN) - Package or Case Code: JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical - Role: Connector - Part Type: Connector - Manufacturer Name: JST Sales America Inc. - Datasheet URL: https://www.jst-mfg.com/product/pdf/eng/eXH.pdf - Role Details: Encoder signal input header, 3-pin JST-XH vertical - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] ### PTC — [MF-PSMF050X-2](https://www.flux.ai/adrian95/mf-psmf050x-2~hrr.md) - Package or Case Code: 0805 - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: Resettable fuse for 5V input (500mA hold) - Part Type: Fuse - Manufacturer Part Number: MF-PSMF050X-2 - Datasheet URL: https://www.bourns.com/docs/Product-Datasheets/mfpsmf.pdf - Manufacturer Name: Bourns Inc. - Role: Protection **Pins:** - P1 [pin 1] - P2 [pin 2] ### TVS — SMF05C.TCT - Part Type: TVS Diode - Manufacturer Part Number: SMF05C.TCT - Datasheet URL: https://www.mouser.com/datasheet/2/761/SEMT_S_A0000305255_1-2575605.pdf - License: https://creativecommons.org/licenses/by/4.0/ - Package or Case Code: SOT-363 - Manufacturer Name: Semtech Corporation - Role Details: Transient voltage suppression on 5V rail - Role: Protection **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] - 4 [pin 4] - 5 [pin 5] - 6 [pin 6] ### U2 — [ATMEGA328PB-AU](https://www.flux.ai/adrian95/atmega328pb-au~88i.md) - Manufacturer Part Number: ATMEGA328PB-AU - Part Type: Microcontroller - Manufacturer Name: Microchip - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://ww1.microchip.com/downloads/en/DeviceDoc/40001907A.pdf **Pins:** - ~RESET~/PC6 [pin 29] - AREF [pin 20] - AVCC [pin 18] - GND [pin 5] - GND [pin 21] - PB0 [pin 12] - PB1 [pin 13] - PB2 [pin 14] - PB3 [pin 15] - PB4 [pin 16] - PB5 [pin 17] - PC0 [pin 23] - PC1 [pin 24] - PC2 [pin 25] - PC3 [pin 26] - PC4 [pin 27] - PC5 [pin 28] - PD0 [pin 30] - PD1 [pin 31] - PD2 [pin 32] - PD3 [pin 1] - PD4 [pin 2] - PD5 [pin 9] - PD6 [pin 10] - PD7 [pin 11] - PE0 [pin 3] - PE1 [pin 6] - PE2 [pin 19] - PE3 [pin 22] - VCC [pin 4] - XTAL1/PB6 [pin 7] - XTAL2/PB7 [pin 8] *The full schematic, PCB layout, bill of materials, and interactive design are available at [https://www.flux.ai/certy/relative-harlequin-robot-vacuum~bb](https://www.flux.ai/certy/relative-harlequin-robot-vacuum~bb).* --- *Generated from [https://www.flux.ai/certy/relative-harlequin-robot-vacuum~bb](https://www.flux.ai/certy/relative-harlequin-robot-vacuum~bb)*