Autonomous Pepper Harvesting Robot Design

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Stopped because the project has no available ACUs, so I can’t continue executing changes right now.
Completed so far:
  • Inspected the existing schematic and found the ESP32 DevKitC, XL1509-5.0 buck regulator, 5A fuse, 12V/5V/3V3 rails, motor/sensor blocks, and existing nets already present.
  • Checked datasheet guidance for:
    • ESP32 DevKitC power/header pins.
    • XL1509-5.0 recommended 12V-to-5V/2A application circuit.
    • Existing 5A fuse rating.
  • Added these Part 1 components:
    • J1: 12V battery input screw terminal.
    • J2: external normally-closed E-stop connector.
    • D4: 10A/40V Schottky reverse-polarity protection diode.
    • D5: 1N5820 XL1509 buck catch diode.
    • L1: 68uH / 2A buck inductor.
    • LED16: green Ready LED.
    • LED17: yellow Harvesting LED.
    • LED18: red Fault LED.
Not completed yet:
  • The generic resistors/capacitors for LED current limiting, E-stop pull-up, buck input/output capacitors, and decoupling were attempted but not added because the generic part lookup failed.
  • The newly added components are not wired yet.
  • Project files for the power distribution diagram, pin table, BOM, and PCB recommendations still need to be created/updated.
  • Schematic checks still need to be rerun and fixed after wiring.
Next work once ACUs are available:
  1. Add the missing resistors and capacitors correctly.
  2. Wire battery → fuse → reverse-polarity protection → 12V rail → XL1509 → 5V_SYS.
  3. Wire common ground, E-stop NC input, and three ESP32-driven status LEDs.
  4. Update documentation files and rerun checks.
Add missing passives
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Files

Schematic

Layout

Preview

J2
U1
U3
U2
U6
LED17
LED16
LED18
D4
Q1
F1
J1
D5
L1
Inductance
68uH
U4
U5
Technical Construction File Draft — Pepper Harvesting Robot Controller
Status
Draft for college prototype and future product planning.
Wireless Technology Summary

Table

ModuleTechnologyBandNotes
ESP32 DevKit / ESP32-WROOMWiFi/Bluetooth2.4GHzUse pre-certified module integration rules and antenna keepout
ESP32-CAMWiFi/Bluetooth2.4GHzKeep antenna at edge and away from motor wiring
Applicable Topics
  • FCC Part 15 / CE RED if operated as a wireless product outside a lab/classroom prototype context.
  • EMC risk from stepper drivers, buck converter, long motor leads, and servo current spikes.
  • Safety documentation required for moving mechanisms and cutting action.
Required Open Items
  • Final schematic export after review.
  • Final PCB layout/Gerbers after placement and routing.
  • BOM with exact purchasable MPNs for carrier modules, motors, servos, connectors, fuse, and battery.
  • Lab EMC/RF test reports if turned into a product.
  • User manual with safety warnings and operating procedure.
RF Design Notes
  • ESP32 and ESP32-CAM antennas must face outward at board edges.
  • No copper pour, ground plane, motor traces, battery wiring, or metal brackets under/near antenna keepout zones.
  • Route motor and buck-switching currents away from camera module antenna and UART/I2C wiring.

  • Status

  • Wireless Technology Summary

  • Applicable Topics

  • Required Open Items

  • RF Design Notes