# ESP32 Hexapod Servo Controller ## Description ESP32-based hexapod controller with two PCA9685 PWM drivers, 18 external MG90S servo ports, HC-SR04 interface, and isolated logic/servo 5 V power rails from a 2S LiPo. ## Project Details - **Owner:** kkarthikeya - **Created:** 8/23/2026 - **Last Updated:** 8/23/2026 - **Visibility:** Public - **Stars:** 1 ## Key Components ### F1 — [178.6764.0001](https://www.flux.ai/silicon-yard/178p6764p0001.md) - Mount: PCB - Part Type: Circuit Protection Devices - Role: Protection - Manufacturer Name: Littelfuse - Functional Group: Battery Input - Current Rating: 20A - Role Details: 20A MINI blade fuse holder; 22A continuous, 30A max - Manufacturer Part Number: 178.6764.0001 - Datasheet URL: http://www.littelfuse.com//media/commercial-vehicle/datasheets/automotive-fuse-holders/mini/littelfuse-fuseholder-mini-fl1-pcb-mount.pdf **Pins:** - 1 [pin 1] - 2 [pin 2] ### J1 — [B2P-VH(LF)(SN)](https://www.flux.ai/lcsc/b2p-vhlfsn~n4oo.md) - Functional Group: Battery Input - Connector Gender: Male - Manufacturer Part Number: B2P-VH(LF)(SN) - Connector Pitch: 3.96mm - Role: Power Input - Role Details: 2S LiPo input; JST VH 10A rating is below 10-15A servo peak target - Operating Temperature: -25 ~ +85℃ - LCSC Part Number: C160315 - Package or Case Code: CONN-TH_B2P-VH-LF-SN - Part Type: Wire To Board / Wire To Wire Connector - Voltage Rating: 250V - Connector Rows: 1 - Connector Type: Header - Connector Positions: 2 - Manufacturer Name: JST - Product Info Url: https://lcsc.com/product-detail/_JST_B2P-VH-LF-SN_B2P-VH-LF-SN_C160315.html - JLCPCB Part Class: Extended Part - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/lcsc/2304140030_JST-B2P-VH-LF-SN_C160315.pdf - Current Rating: 10A **Pins:** - 1 [pin 1] - 2 [pin 2] ### J10 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role Details: Individual 3-pin GND/+5V_SERVO/PWM connector; grouped three per leg - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Functional Group: Servo Ports - Role: Servo Port **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J11 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role: Servo Port - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: Individual 3-pin GND/+5V_SERVO/PWM connector; grouped three per leg - Functional Group: Servo Ports **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J12 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role Details: Individual 3-pin GND/+5V_SERVO/PWM connector; grouped three per leg - License: https://creativecommons.org/licenses/by/4.0/ - Role: Servo Port - Part Type: Connector - Functional Group: Servo Ports **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J13 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role: Servo Port - Functional Group: Servo Ports - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: Individual 3-pin GND/+5V_SERVO/PWM connector; grouped three per leg **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J14 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Functional Group: Servo Ports - Role: Servo Port - Part Type: Connector - Role Details: Individual 3-pin GND/+5V_SERVO/PWM connector; grouped three per leg - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J15 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role Details: Individual 3-pin GND/+5V_SERVO/PWM connector; grouped three per leg - Part Type: Connector - Functional Group: Servo Ports - License: https://creativecommons.org/licenses/by/4.0/ - Role: Servo Port **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J16 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role: Servo Port - Role Details: Individual 3-pin GND/+5V_SERVO/PWM connector; grouped three per leg - Functional Group: Servo Ports - License: https://creativecommons.org/licenses/by/4.0/ - Part Type: Connector **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J17 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role Details: Individual 3-pin GND/+5V_SERVO/PWM connector; grouped three per leg - Role: Servo Port - Functional Group: Servo Ports - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J18 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - License: https://creativecommons.org/licenses/by/4.0/ - Part Type: Connector - Role Details: Individual 3-pin GND/+5V_SERVO/PWM connector; grouped three per leg - Role: Servo Port - Functional Group: Servo Ports **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J19 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role Details: Individual 3-pin GND/+5V_SERVO/PWM connector; grouped three per leg - Role: Servo Port - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Functional Group: Servo Ports **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J2 — [1868076](https://www.flux.ai/silicon-yard/1868076.md) - Datasheet URL: https://www.phoenixcontact.com/en-us/products/printed-circuit-board-terminal-mkds-5-2-762-1868076?type=pdf - Compliance: Green - Functional Group: Main Power Switch - Manufacturer Name: Phoenix Contact - Role Details: Connect external SPST main switch rated at least 20A DC between pins - Manufacturer Part Number: 1868076 - Role: Switch Interface - Mount: Screw - Part Type: Connector **Pins:** - 1 [pin 1] - 2 [pin 2] ### J20 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role Details: Individual 3-pin GND/+5V_SERVO/PWM connector; grouped three per leg - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Functional Group: Servo Ports - Role: Servo Port **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J21 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Functional Group: Servo Ports - Part Type: Connector - Role: Servo Port - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: Individual 3-pin GND/+5V_SERVO/PWM connector; grouped three per leg **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J22 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role Details: Individual 3-pin GND/+5V_SERVO/PWM connector; grouped three per leg - Role: Servo Port - License: https://creativecommons.org/licenses/by/4.0/ - Functional Group: Servo Ports - Part Type: Connector **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J23 — [Pin Header for HC-SR04](https://www.flux.ai/project-x/pin-header-for-hc-sr04~88.md) - Functional Group: Ultrasonic Interface - License: https://creativecommons.org/licenses/by/4.0/ - Part Type: Connector - Role Details: +5V_ESP32, TRIG, ECHO, GND - Role: Sensor Interface **Pins:** - +5v [pin 1] - Echo [pin 3] - Gnd [pin 4] - Trig [pin 2] ### J3 — [1868076](https://www.flux.ai/silicon-yard/1868076.md) - Manufacturer Part Number: 1868076 - Manufacturer Name: Phoenix Contact - Functional Group: Servo Power - Role: Power Module Interface - Datasheet URL: https://www.phoenixcontact.com/en-us/products/printed-circuit-board-terminal-mkds-5-2-762-1868076?type=pdf - Role Details: External servo buck input VIN+/VIN-; connector rated 32A - Compliance: Green - Mount: Screw - Part Type: Connector **Pins:** - 1 [pin 1] - 2 [pin 2] ### J4 — [1868076](https://www.flux.ai/silicon-yard/1868076.md) - Role: Power Module Interface - Compliance: Green - Datasheet URL: https://www.phoenixcontact.com/en-us/products/printed-circuit-board-terminal-mkds-5-2-762-1868076?type=pdf - Role Details: External servo buck output fixed 5.0V/20A; connector rated 32A - Manufacturer Part Number: 1868076 - Manufacturer Name: Phoenix Contact - Mount: Screw - Part Type: Connector - Functional Group: Servo Power **Pins:** - 1 [pin 1] - 2 [pin 2] ### J5 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role Details: Individual 3-pin GND/+5V_SERVO/PWM connector; grouped three per leg - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Functional Group: Servo Ports - Role: Servo Port **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J6 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Functional Group: Servo Ports - Role: Servo Port - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: Individual 3-pin GND/+5V_SERVO/PWM connector; grouped three per leg **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J7 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role Details: Individual 3-pin GND/+5V_SERVO/PWM connector; grouped three per leg - License: https://creativecommons.org/licenses/by/4.0/ - Part Type: Connector - Functional Group: Servo Ports - Role: Servo Port **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J8 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - License: https://creativecommons.org/licenses/by/4.0/ - Role: Servo Port - Part Type: Connector - Functional Group: Servo Ports - Role Details: Individual 3-pin GND/+5V_SERVO/PWM connector; grouped three per leg **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J9 — [Pin Header 01x03 2.54mm Vertical for Servo Motor](https://www.flux.ai/project-x/pin-header-01x03-2p54mm-vertical-for-servo-motor~jl.md) - Role Details: Individual 3-pin GND/+5V_SERVO/PWM connector; grouped three per leg - License: https://creativecommons.org/licenses/by/4.0/ - Role: Servo Port - Part Type: Connector - Functional Group: Servo Ports **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### U1 — [ESP32-DEVKIT-V1](https://www.flux.ai/jharwinbarrozo/esp32-devkit-v1~7xd.md) - Manufacturer Part Number: ESP32-DEVKIT-V1 - Symbol Style: Parametric - Functional Group: MCU and Logic - Datasheet URL: https://www.espressif.com/sites/default/files/documentation/esp32_datasheet_en.pdf - Part Type: Integrated Circuit - Manufacturer Name: Espressif Systems - Role Details: ESP32 DevKit V1; GPIO21/22 I2C, GPIO17 TRIG, GPIO16 ECHO - Role: Controller **Pins:** - 3V3 [pin 1] - D12 [pin 27] - D13 [pin 28] - D14 [pin 26] - D15 [pin 3] - D18 [pin 9] - D19 [pin 10] - D2 [pin 4] - D21 [pin 11] - D22 [pin 14] - D23 [pin 15] - D25 [pin 23] - D26 [pin 24] - D27 [pin 25] - D32 [pin 21] - D33 [pin 22] - D34 [pin 19] - D35 [pin 20] - D4 [pin 5] - D5 [pin 8] - EN [pin 16] - GND [pin 2] - GND_1 [pin 29] - RX0 [pin 12] - RX2 [pin 6] - sensor_VN [pin 18] - sensor_VP [pin 17] - TX0 [pin 13] - TX2 [pin 7] - VIN [pin 30] ### U2 — [PCA9685PW](https://www.flux.ai/kicad-part-library/pca9685pw~kzn.md) - Functional Group: PWM Driver A - Role Details: Servo PWM channels 1-16; I2C address 0x40 - Package or Case Code: TSSOP-28_4.4x9.7mm_P0.65mm - Manufacturer Part Number: PCA9685PW - Role: PWM Controller - Manufacturer Name: NXP Semiconductors NV - Datasheet URL: http://www.nxp.com/docs/en/data-sheet/PCA9685.pdf **Pins:** - ~{OE} [pin 23] - A0 [pin 1] - A1 [pin 2] - A2 [pin 3] - A3 [pin 4] - A4 [pin 5] - A5 [pin 24] - EXTCLK [pin 25] - LED0 [pin 6] - LED1 [pin 7] - LED10 [pin 17] - LED11 [pin 18] - LED12 [pin 19] - LED13 [pin 20] - LED14 [pin 21] - LED15 [pin 22] - LED2 [pin 8] - LED3 [pin 9] - LED4 [pin 10] - LED5 [pin 11] - LED6 [pin 12] - LED7 [pin 13] - LED8 [pin 15] - LED9 [pin 16] - SCL [pin 26] - SDA [pin 27] - VDD [pin 28] - VSS [pin 14] ### U3 — [PCA9685PW](https://www.flux.ai/kicad-part-library/pca9685pw~kzn.md) - Manufacturer Part Number: PCA9685PW - Package or Case Code: TSSOP-28_4.4x9.7mm_P0.65mm - Role Details: Servo PWM channels 17-18; I2C address 0x41 - Role: PWM Controller - Manufacturer Name: NXP Semiconductors NV - Datasheet URL: http://www.nxp.com/docs/en/data-sheet/PCA9685.pdf - Functional Group: PWM Driver B **Pins:** - ~{OE} [pin 23] - A0 [pin 1] - A1 [pin 2] - A2 [pin 3] - A3 [pin 4] - A4 [pin 5] - A5 [pin 24] - EXTCLK [pin 25] - LED0 [pin 6] - LED1 [pin 7] - LED10 [pin 17] - LED11 [pin 18] - LED12 [pin 19] - LED13 [pin 20] - LED14 [pin 21] - LED15 [pin 22] - LED2 [pin 8] - LED3 [pin 9] - LED4 [pin 10] - LED5 [pin 11] - LED6 [pin 12] - LED7 [pin 13] - LED8 [pin 15] - LED9 [pin 16] - SCL [pin 26] - SDA [pin 27] - VDD [pin 28] - VSS [pin 14] ### U4 — [TSR2-2450](https://www.flux.ai/adrian95/tsr2-2450~f1l.md) - Package or Case Code: TSR22450 - Functional Group: Logic Power - Role: Power Conversion - Role Details: Independent +5V_ESP32 rail; 6.5-36V input, 2A output - Manufacturer Part Number: TSR2-2450 - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://www.tracopower.com/products/tsr2.pdf - Manufacturer Name: Traco Power - Part Type: Power Source **Pins:** - +VIN [pin 1] - +VOUT [pin 3] - GND [pin 2] *The full schematic, PCB layout, bill of materials, and interactive design are available at [https://www.flux.ai/kkarthikeya/esp32-hexapod-servo-controller~bk](https://www.flux.ai/kkarthikeya/esp32-hexapod-servo-controller~bk).* --- *Generated from [https://www.flux.ai/kkarthikeya/esp32-hexapod-servo-controller~bk](https://www.flux.ai/kkarthikeya/esp32-hexapod-servo-controller~bk)*