# Eerie Peach Interocitor ## Description Ultra-Compact ESP32 Robotic Control Module with 3S Battery, USB-C PD, 4WD Motor & Servo Support, and Integrated GPS/IMU ## Project Details - **Owner:** nik094 - **Created:** 11/12/2025 - **Last Updated:** 11/13/2025 - **Visibility:** Public - **Domain:** Consumer Electronics - **Board Outline Confirmed:** Yes, board outline and mounting hole (M3) locations are ready for review. - **Power Management Architecture:** Multi-source ORing, Buck Conversion (12V to 5V, 3.3V), Battery with BMS - **Mounting Hole Type:** M3 - **System Architecture:** ESP32-based with integrated GPS, 9-Axis IMU, and multi-bus expansion header. - **Stackup:** Standard 4 Layer - **Power Requirements:** Battery, USB, Barrel Jack (12V) - **Connectivity:** Bluetooth, WiFi - **Mounting Hole Quantity:** 12 - **Operating Voltage:** 12V ## Key Components ### B1 — [21700 Protected Button Top](https://www.flux.ai/nodemand/21700-protected-button-top~6o.md) - Role: Mechanical - Manufacturer Part Number: BK-18650-PC2 - Manufacturer Name: MPD (Memory Protection Devices) - Role Details: Holder for single-side row of three 21700 cells - Voltage: 4.2V - Datasheet URL: https://www.memoryprotectiondevices.com/datasheets/BK-18650-PC2-datasheet.pdf **Pins:** - NEGATIVE [pin -] - POSITIVE [pin +] ### B2 — [21700 Protected Button Top](https://www.flux.ai/nodemand/21700-protected-button-top~6o.md) - Datasheet URL: https://www.memoryprotectiondevices.com/datasheets/BK-18650-PC2-datasheet.pdf - Role Details: Holder for single-side row of three 21700 cells - Manufacturer Name: MPD (Memory Protection Devices) - Manufacturer Part Number: BK-18650-PC2 - Role: Mechanical - Voltage: 4.2V **Pins:** - NEGATIVE [pin -] - POSITIVE [pin +] ### B3 — [21700 Protected Button Top](https://www.flux.ai/nodemand/21700-protected-button-top~6o.md) - Datasheet URL: https://www.memoryprotectiondevices.com/datasheets/BK-18650-PC2-datasheet.pdf - Role: Mechanical - Role Details: Holder for single-side row of three 21700 cells - Manufacturer Part Number: BK-18650-PC2 - Manufacturer Name: MPD (Memory Protection Devices) - Voltage: 4.2V **Pins:** - NEGATIVE [pin -] - POSITIVE [pin +] ### D1 — [LM66100](https://www.flux.ai/cpizer/lm66100~wn.md) - Datasheet URL: https://www.ti.com/lit/ds/symlink/lm66100.pdf?ts=1697203307791&ref_url=https%253A%252F%252Fwww.google.com%252F - Manufacturer Name: Texas Instruments - Role Details: Ideal-diode/ORing controller for input ORing (PD, barrel, battery) - Role: Power Protection - Manufacturer Part Number: LM66100DCKR - Part Type: Protection **Pins:** - GND [pin 2] - N_CE [pin 3] - NC [pin 4] - ST [pin 5] - VIN [pin 1] - VOUT [pin 6] ### D2 — [LM66100](https://www.flux.ai/cpizer/lm66100~wn.md) - Role Details: Ideal-diode/ORing controller for input ORing (PD, barrel, battery) - Manufacturer Name: Texas Instruments - Manufacturer Part Number: LM66100DCKR - Part Type: Protection - Datasheet URL: https://www.ti.com/lit/ds/symlink/lm66100.pdf?ts=1697203307791&ref_url=https%253A%252F%252Fwww.google.com%252F - Role: Power Protection **Pins:** - GND [pin 2] - N_CE [pin 3] - NC [pin 4] - ST [pin 5] - VIN [pin 1] - VOUT [pin 6] ### D3 — [LM66100](https://www.flux.ai/cpizer/lm66100~wn.md) - Role Details: Ideal-diode/ORing controller for input ORing (PD, barrel, battery) - Manufacturer Name: Texas Instruments - Part Type: Protection - Manufacturer Part Number: LM66100DCKR - Datasheet URL: https://www.ti.com/lit/ds/symlink/lm66100.pdf?ts=1697203307791&ref_url=https%253A%252F%252Fwww.google.com%252F - Role: Power Protection **Pins:** - GND [pin 2] - N_CE [pin 3] - NC [pin 4] - ST [pin 5] - VIN [pin 1] - VOUT [pin 6] ### F1 — [0ZCF0200AF2C](https://www.flux.ai/adrian95/0zcf0200af2c~eal.md) - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: Resettable polyfuse for 5 V servo rail protection (review hold/current rating in next pass) - Datasheet URL: https://belfuse.com/resources/datasheets/circuitprotection/ds-cp-0zcf-series.pdf - Part Type: Fuse - Manufacturer Name: BelFuse - Package or Case Code: FUSC7451X80N - Manufacturer Part Number: 0ZCF0200AF2C - Role: Protection **Pins:** - ~ [pin 2] - ~ [pin 1] ### J_BALANCE — [B4B-XH-A(LF)(SN)](https://www.flux.ai/adrian95/b4b-xh-alfsn~8ne.md) - Role Details: 3S balance/service header for cell taps and service access - Manufacturer Part Number: B4B-XH-A(LF)(SN) - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Name: JST Sales America Inc. - Role: Connector - Datasheet URL: https://www.jst-mfg.com/product/pdf/eng/eXH.pdf **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] - 4 [pin 4] ### J_MOTOR1..J_MOTOR4 — [B2B-PH-K-S(LF)(SN)](https://www.flux.ai/jecstronic/b2b-ph-k-slfsn~nss.md) - Datasheet URL: https://datasheet.lcsc.com/lcsc/1811151524_JST-Sales-America-B2B-PH-K-S-LF-SN_C131337.pdf - Role Details: JST 2.0 mm 2-pin connector for each motor output - Role: Connector - Manufacturer Part Number: B2B-PH-K-S(LF)(SN) - License: https://creativecommons.org/licenses/by/4.0/ - Part Type: Connector - Manufacturer Name: JST Sales America **Pins:** - PIN1 [pin 1] - PIN2 [pin 2] ### J_MOTOR1..J_MOTOR4 — [B2B-PH-K-S(LF)(SN)](https://www.flux.ai/jecstronic/b2b-ph-k-slfsn~nss.md) - Datasheet URL: https://datasheet.lcsc.com/lcsc/1811151524_JST-Sales-America-B2B-PH-K-S-LF-SN_C131337.pdf - Manufacturer Part Number: B2B-PH-K-S(LF)(SN) - License: https://creativecommons.org/licenses/by/4.0/ - Part Type: Connector - Manufacturer Name: JST Sales America - Role Details: JST 2.0 mm 2-pin connector for each motor output - Role: Connector **Pins:** - PIN1 [pin 1] - PIN2 [pin 2] ### J_MOTOR1..J_MOTOR4 — [B2B-PH-K-S(LF)(SN)](https://www.flux.ai/jecstronic/b2b-ph-k-slfsn~nss.md) - Role: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Part Type: Connector - Manufacturer Name: JST Sales America - Role Details: JST 2.0 mm 2-pin connector for each motor output - Datasheet URL: https://datasheet.lcsc.com/lcsc/1811151524_JST-Sales-America-B2B-PH-K-S-LF-SN_C131337.pdf - Manufacturer Part Number: B2B-PH-K-S(LF)(SN) **Pins:** - PIN1 [pin 1] - PIN2 [pin 2] ### J_MOTOR1..J_MOTOR4 — [B2B-PH-K-S(LF)(SN)](https://www.flux.ai/jecstronic/b2b-ph-k-slfsn~nss.md) - Manufacturer Part Number: B2B-PH-K-S(LF)(SN) - Datasheet URL: https://datasheet.lcsc.com/lcsc/1811151524_JST-Sales-America-B2B-PH-K-S-LF-SN_C131337.pdf - Manufacturer Name: JST Sales America - Part Type: Connector - Role: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: JST 2.0 mm 2-pin connector for each motor output **Pins:** - PIN1 [pin 1] - PIN2 [pin 2] ### J_SERVO1..J_SERVO5 — [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 Details: 3-pin header for servo V+/GND/Signal distribution (servo outputs) - Role: Connector - Part Type: Connector **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J_SERVO1..J_SERVO5 — [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: 3-pin header for servo V+/GND/Signal distribution (servo outputs) - Part Type: Connector - Role: Connector - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J_SERVO1..J_SERVO5 — [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) - Part Type: Connector - Role Details: 3-pin header for servo V+/GND/Signal distribution (servo outputs) - Role: Connector - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J_SERVO1..J_SERVO5 — [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: Connector - Part Type: Connector - Role Details: 3-pin header for servo V+/GND/Signal distribution (servo outputs) - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J_SERVO1..J_SERVO5 — [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: Connector - Part Type: Connector - Role Details: 3-pin header for servo V+/GND/Signal distribution (servo outputs) **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J1 — [USB-C Receptacle USB2.0](https://www.flux.ai/jharwinbarrozo/usb-c-receptacle-usb20~aqb.md) - Manufacturer Part Number: 12401548E4#2A - Role: Connector - Datasheet URL: https://media.digikey.com/pdf/Data%20Sheets/Amphenol%20PDFs/12401548E4%232A%20Drawing.pdf - Role Details: USB-C receptacle for PD charging and programming - Manufacturer Name: Amphenol **Pins:** - CC1 [pin A5] - CC2 [pin B5] - D- [pin B7] - D- [pin A7] - D+ [pin B6] - D+ [pin A6] - GND [pin A12] - GND [pin A1] - GND [pin B12] - SBU1 [pin A8] - SBU2 [pin B8] - SHIELD [pin SH1] - VBUS [pin B4] - VBUS [pin A4] ### J2 — [U.FL-R-SMT(10)](https://www.flux.ai/adrian95/ufl-r-smt10~t6.md) - Manufacturer Part Number: U.FL-R-SMT(10) - Role: Connector - Role Details: RF / Coaxial connector for GPS module antenna input - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://media.digikey.com/pdf/Data%20Sheets/Hirose%20PDFs/UFL%20Series.pdf - Manufacturer Name: Hirose Electric Co Ltd **Pins:** - 1 [pin 1] - 2 [pin 2-1] - 3 [pin 2-2] ### J3 — [Pin Header 02x15 2.54mm Vertical](https://www.flux.ai/adrian95/pin-header-02x15-254mm-vertical~wxm.md) - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: 30-pin 2×15, 2.54 mm pitch expansion header exposing power rails and signal buses - Part Type: Connector **Pins:** - Pin_1 [pin 1] - Pin_10 [pin 10] - Pin_11 [pin 11] - Pin_12 [pin 12] - Pin_13 [pin 13] - Pin_14 [pin 14] - Pin_15 [pin 15] - Pin_16 [pin 16] - Pin_17 [pin 17] - Pin_18 [pin 18] - Pin_19 [pin 19] - Pin_2 [pin 2] - Pin_20 [pin 20] - Pin_21 [pin 21] - Pin_22 [pin 22] - Pin_23 [pin 23] - Pin_24 [pin 24] - Pin_25 [pin 25] - Pin_26 [pin 26] - Pin_27 [pin 27] - Pin_28 [pin 28] - Pin_29 [pin 29] - Pin_3 [pin 3] - Pin_30 [pin 30] - Pin_4 [pin 4] - Pin_5 [pin 5] - Pin_6 [pin 6] - Pin_7 [pin 7] - Pin_8 [pin 8] - Pin_9 [pin 9] ### J4 — [PJ-051AH](https://www.flux.ai/vasy_skral/pj-051ah~yy8.md) - Datasheet URL: https://www.cuidevices.com/product/resource/digikeypdf/pj-051ah.pdf - Role: Connector - Role Details: 12 V barrel input jack (with switch) - Part Type: Connector - Manufacturer Part Number: PJ-051AH - Manufacturer Name: CUI Devices **Pins:** - Center Pin [pin 1] - MountPin [pin MP1] - MountPin [pin MP2] - Switch [pin 3] - Terminal [pin 2] ### TVS1 — [SPHV12-01ETG-C](https://www.flux.ai/adrian95/sphv12-01etg-c~ze3.md) - Part Type: Diode - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://www.verical.com/datasheet/littelfuse-tvs-SPHV12-01ETG-C-895263.pdf - Manufacturer Name: Littelfuse Inc. - Manufacturer Part Number: SPHV12-01ETG-C - Role: Protection - Role Details: Transient suppression on 12 V input (barrel/PD) **Pins:** - A [pin 2] - C [pin 1] ### U1 — [ESP32-WROOM-32U](https://www.flux.ai/kicad-part-library/esp32-wroom-32u~3t2.md) - Datasheet URL: https://www.espressif.com/sites/default/files/documentation/esp32-wroom-32d_esp32-wroom-32u_datasheet_en.pdf - Package or Case Code: ESP32-WROOM-32U - Role: Main MCU - Manufacturer Part Number: ESP32-WROOM-32U - Part Type: RF Module - Manufacturer Name: Texas Instruments Inc. **Pins:** - EN [pin 3] - GND [pin 15] - GND [pin 39] - GND [pin 38] - GND [pin 1] - IO0 [pin 25] - IO12 [pin 14] - IO13 [pin 16] - IO14 [pin 13] - IO15 [pin 23] - IO16 [pin 27] - IO17 [pin 28] - IO18 [pin 30] - IO19 [pin 31] - IO2 [pin 24] - IO21 [pin 33] - IO22 [pin 36] - IO23 [pin 37] - IO25 [pin 10] - IO26 [pin 11] - IO27 [pin 12] - IO32 [pin 8] - IO33 [pin 9] - IO34 [pin 6] - IO35 [pin 7] - IO4 [pin 26] - IO5 [pin 29] - NC [pin 32] - RXD0/IO3 [pin 34] - SCK/CLK [pin 20] - SCS/CMD [pin 19] - SDI/SD1 [pin 22] - SDO/SD0 [pin 21] - SENSOR_VN [pin 5] - SENSOR_VP [pin 4] - SHD/SD2 [pin 17] - SWP/SD3 [pin 18] - TXD0/IO1 [pin 35] - VDD [pin 2] ### U1 — [ESP32-WROOM-32U](https://www.flux.ai/kicad-part-library/esp32-wroom-32u~3t2.md) - Datasheet URL: https://www.espressif.com/sites/default/files/documentation/esp32-wroom-32d_esp32-wroom-32u_datasheet_en.pdf - Package or Case Code: ESP32-WROOM-32U - Part Type: RF Module - Manufacturer Name: Texas Instruments Inc. - Manufacturer Part Number: ESP32-WROOM-32U - Role: Main MCU **Pins:** - EN [pin 3] - GND [pin 15] - GND [pin 39] - GND [pin 38] - GND [pin 1] - IO0 [pin 25] - IO12 [pin 14] - IO13 [pin 16] - IO14 [pin 13] - IO15 [pin 23] - IO16 [pin 27] - IO17 [pin 28] - IO18 [pin 30] - IO19 [pin 31] - IO2 [pin 24] - IO21 [pin 33] - IO22 [pin 36] - IO23 [pin 37] - IO25 [pin 10] - IO26 [pin 11] - IO27 [pin 12] - IO32 [pin 8] - IO33 [pin 9] - IO34 [pin 6] - IO35 [pin 7] - IO4 [pin 26] - IO5 [pin 29] - NC [pin 32] - RXD0/IO3 [pin 34] - SCK/CLK [pin 20] - SCS/CMD [pin 19] - SDI/SD1 [pin 22] - SDO/SD0 [pin 21] - SENSOR_VN [pin 5] - SENSOR_VP [pin 4] - SHD/SD2 [pin 17] - SWP/SD3 [pin 18] - TXD0/IO1 [pin 35] - VDD [pin 2] ### U11 — [DRV8871DDA](https://www.flux.ai/kicad-part-library/drv8871dda~xx.md) - Datasheet URL: http://www.ti.com/lit/ds/symlink/drv8871.pdf - Role: Motor Driver - Package or Case Code: Texas_HTSOP-8-1EP_3.9x4.9mm_P1.27mm_EP2.95x4.9mm_Mask2.4x3.1mm_ThermalVias - Manufacturer Name: Texas Instruments Inc. - Manufacturer Part Number: DRV8871DDA - Role Details: Brushed DC motor driver, 12 V capable, ~3.6 A peak — use one per motor channel **Pins:** - GND [pin 7] - GND [pin 1] - GND [pin 9] - ILIM [pin 4] - IN1 [pin 3] - IN2 [pin 2] - OUT1 [pin 6] - OUT2 [pin 8] - VM [pin 5] ### U12 — [DRV8871DDA](https://www.flux.ai/kicad-part-library/drv8871dda~xx.md) - Datasheet URL: http://www.ti.com/lit/ds/symlink/drv8871.pdf - Package or Case Code: Texas_HTSOP-8-1EP_3.9x4.9mm_P1.27mm_EP2.95x4.9mm_Mask2.4x3.1mm_ThermalVias - Manufacturer Part Number: DRV8871DDA - Role Details: Brushed DC motor driver, 12 V capable, ~3.6 A peak — use one per motor channel - Manufacturer Name: Texas Instruments Inc. - Role: Motor Driver **Pins:** - GND [pin 7] - GND [pin 1] - GND [pin 9] - ILIM [pin 4] - IN1 [pin 3] - IN2 [pin 2] - OUT1 [pin 6] - OUT2 [pin 8] - VM [pin 5] ### U13 — [DRV8871DDA](https://www.flux.ai/kicad-part-library/drv8871dda~xx.md) - Datasheet URL: http://www.ti.com/lit/ds/symlink/drv8871.pdf - Role: Motor Driver - Package or Case Code: Texas_HTSOP-8-1EP_3.9x4.9mm_P1.27mm_EP2.95x4.9mm_Mask2.4x3.1mm_ThermalVias - Manufacturer Part Number: DRV8871DDA - Manufacturer Name: Texas Instruments Inc. - Role Details: Brushed DC motor driver, 12 V capable, ~3.6 A peak — use one per motor channel **Pins:** - GND [pin 7] - GND [pin 1] - GND [pin 9] - ILIM [pin 4] - IN1 [pin 3] - IN2 [pin 2] - OUT1 [pin 6] - OUT2 [pin 8] - VM [pin 5] ### U14 — [DRV8871DDA](https://www.flux.ai/kicad-part-library/drv8871dda~xx.md) - Package or Case Code: Texas_HTSOP-8-1EP_3.9x4.9mm_P1.27mm_EP2.95x4.9mm_Mask2.4x3.1mm_ThermalVias - Role Details: Brushed DC motor driver, 12 V capable, ~3.6 A peak — use one per motor channel - Datasheet URL: http://www.ti.com/lit/ds/symlink/drv8871.pdf - Role: Motor Driver - Manufacturer Part Number: DRV8871DDA - Manufacturer Name: Texas Instruments Inc. **Pins:** - GND [pin 7] - GND [pin 1] - GND [pin 9] - ILIM [pin 4] - IN1 [pin 3] - IN2 [pin 2] - OUT1 [pin 6] - OUT2 [pin 8] - VM [pin 5] ### U15 — [NEO-M8Q-0](https://www.flux.ai/vasy_skral/neo-m8q-0~aw0.md) - Manufacturer Part Number: NEO-M8Q-0 - Role: RF Transceiver - Manufacturer Name: U-Blox - Role Details: GPS module with u.FL antenna connector and UART interface - Part Type: GPS Transceiver Module - Datasheet URL: https://www.u-blox.com/en/docs/UBX-15031086 **Pins:** - ~RESET [pin 8] - ~SAFEBOOT [pin 1] - D_SEL [pin 2] - EXTINT [pin 4] - GND [pin 10] - GND [pin 12] - GND [pin 24] - GND [pin 13] - LNA_EN [pin 14] - RESERVED [pin 17] - RESERVED [pin 15] - RESERVED [pin 16] - RF_IN [pin 11] - RXD/SPI_MOSI [pin 21] - SCL/SPI_CLK [pin 19] - SDA/~SPI_CS [pin 18] - TIMEPULSE [pin 3] - TXD/SPI_MISO [pin 20] - USB_DM [pin 5] - USB_DP [pin 6] - V_BCKP [pin 22] - VCC [pin 23] - VCC_RF [pin 9] - VDD_USB [pin 7] ### U3 — [NEO-M8Q-0](https://www.flux.ai/vasy_skral/neo-m8q-0~aw0.md) - Role: RF Transceiver - Datasheet URL: https://www.u-blox.com/en/docs/UBX-15031086 - Part Type: GPS Transceiver Module - Role Details: Compact GPS module with u.FL antenna connector and UART interface - Manufacturer Name: U-Blox - Manufacturer Part Number: NEO-M8Q-0 **Pins:** - ~RESET [pin 8] - ~SAFEBOOT [pin 1] - D_SEL [pin 2] - EXTINT [pin 4] - GND [pin 10] - GND [pin 12] - GND [pin 24] - GND [pin 13] - LNA_EN [pin 14] - RESERVED [pin 17] - RESERVED [pin 15] - RESERVED [pin 16] - RF_IN [pin 11] - RXD/SPI_MOSI [pin 21] - SCL/SPI_CLK [pin 19] - SDA/~SPI_CS [pin 18] - TIMEPULSE [pin 3] - TXD/SPI_MISO [pin 20] - USB_DM [pin 5] - USB_DP [pin 6] - V_BCKP [pin 22] - VCC [pin 23] - VCC_RF [pin 9] - VDD_USB [pin 7] ### U4 — [ICM-20948](https://www.flux.ai/adrian95/icm-20948~rg.md) - Datasheet URL: https://invensense.tdk.com/wp-content/uploads/2016/06/DS-000189-ICM-20948-v1.3.pdf?ref_disty=digikey - Part Type: Sensor - Manufacturer Name: TDK InvenSense - Role Details: 9-Axis IMU (accelerometer, gyroscope, magnetometer) sensor - Manufacturer Part Number: ICM-20948 **Pins:** - ~CS - AD0/SDO - AUX_CL - AUX_DA - FSYNC - GND - INT1 - NC - NC - NC - NC - NC - NC - NC - NC - NC - NC - REGOUT - RESV_19 - RESV_20 - SCL/SCLK - SDA/SDI - VDD - VDDIO ### U4 — [ICM-20948](https://www.flux.ai/adrian95/icm-20948~rg.md) - Part Type: Sensor - Datasheet URL: https://invensense.tdk.com/wp-content/uploads/2016/06/DS-000189-ICM-20948-v1.3.pdf?ref_disty=digikey - Manufacturer Name: TDK InvenSense - Role: Sensor - Manufacturer Part Number: ICM-20948 - Role Details: 9-Axis IMU (accelerometer, gyroscope, magnetometer) sensor **Pins:** - ~CS - AD0/SDO - AUX_CL - AUX_DA - FSYNC - GND - INT1 - NC - NC - NC - NC - NC - NC - NC - NC - NC - NC - REGOUT - RESV_19 - RESV_20 - SCL/SCLK - SDA/SDI - VDD - VDDIO ### U5 — [AP63203WU-7](https://www.flux.ai/lcsc/ap63203wu-7~j9cl.md) - Operating Temperature: -40 ~ +85℃ - Max Input Voltage: 3.8~32V - Output Current: 2A - Frequency: 1100kHz - Operating Voltage: 4.5V to 60V - Manufacturer Part Number: AP63203WU-7 - LCSC Part Number: C780769 - JLCPCB Part Class: Extended Part - Package or Case Code: TSOT-26_L2.9-W1.6-P0.95-LS2.8-BL - Part Type: AC-DC Controllers & Regulators - IC Type: Synchronous Buck Converter - Max Output Voltage: 3.3V - Manufacturer Name: DIODES(美台) **Pins:** - BST [pin 6] - EN [pin 2] - FB [pin 1] - GND [pin 4] - SW [pin 5] - VIN [pin 3] ### U6 — [DRV8871DDA](https://www.flux.ai/kicad-part-library/drv8871dda~xx.md) - Package or Case Code: Texas_HTSOP-8-1EP_3.9x4.9mm_P1.27mm_EP2.95x4.9mm_Mask2.4x3.1mm_ThermalVias - Datasheet URL: http://www.ti.com/lit/ds/symlink/drv8871.pdf - Role Details: Brushed DC motor driver, 12 V capable, ~3.6 A peak — use one per motor channel - Manufacturer Part Number: DRV8871DDA - Manufacturer Name: Texas Instruments Inc. - Role: Motor Driver **Pins:** - GND [pin 7] - GND [pin 1] - GND [pin 9] - ILIM [pin 4] - IN1 [pin 3] - IN2 [pin 2] - OUT1 [pin 6] - OUT2 [pin 8] - VM [pin 5] ### U7 — [STUSB4500QTR](https://www.flux.ai/kicad-part-library/stusb4500qtr~tgl.md) - Package or Case Code: QFN-24-1EP_4x4mm_P0.5mm_EP2.7x2.7mm - Manufacturer Part Number: STUSB4500QTR - Role: Power Management - Role Details: USB‑C PD sink controller to negotiate 15 V PD contract for charging - Datasheet URL: https://www.st.com/resource/en/datasheet/stusb4500.pdf **Pins:** - A_B_SIDE [pin 17] - ADDR0 [pin 12] - ADDR1 [pin 13] - ALERT [pin 19] - ATTACH [pin 11] - CC1 [pin 2] - CC1DB [pin 1] - CC2 [pin 4] - CC2DB [pin 5] - DISCH [pin 9] - GND [pin 25] - GND [pin 10] - GPIO [pin 15] - NC [pin 3] - POWER_OK2 [pin 20] - POWER_OK3 [pin 14] - RESET [pin 6] - SCL [pin 7] - SDA [pin 8] - VBUS_EN_SNK [pin 16] - VBUS_VS_DISCH [pin 18] - VDD [pin 24] - VREG_1V2 [pin 21] - VREG_2V7 [pin 23] - VSYS [pin 22] ### U7 — [DRV8871DDA](https://www.flux.ai/kicad-part-library/drv8871dda~xx.md) - Datasheet URL: http://www.ti.com/lit/ds/symlink/drv8871.pdf - Role Details: Brushed DC motor driver, 12 V capable, ~3.6 A peak — use one per motor channel - Package or Case Code: Texas_HTSOP-8-1EP_3.9x4.9mm_P1.27mm_EP2.95x4.9mm_Mask2.4x3.1mm_ThermalVias - Manufacturer Name: Texas Instruments Inc. - Manufacturer Part Number: DRV8871DDA - Role: Motor Driver **Pins:** - GND [pin 7] - GND [pin 1] - GND [pin 9] - ILIM [pin 4] - IN1 [pin 3] - IN2 [pin 2] - OUT1 [pin 6] - OUT2 [pin 8] - VM [pin 5] ### U8 — [DRV8871DDA](https://www.flux.ai/kicad-part-library/drv8871dda~xx.md) - Manufacturer Part Number: DRV8871DDA - Manufacturer Name: Texas Instruments Inc. - Role Details: Brushed DC motor driver, 12 V capable, ~3.6 A peak — use one per motor channel - Role: Motor Driver - Package or Case Code: Texas_HTSOP-8-1EP_3.9x4.9mm_P1.27mm_EP2.95x4.9mm_Mask2.4x3.1mm_ThermalVias - Datasheet URL: http://www.ti.com/lit/ds/symlink/drv8871.pdf **Pins:** - GND [pin 7] - GND [pin 1] - GND [pin 9] - ILIM [pin 4] - IN1 [pin 3] - IN2 [pin 2] - OUT1 [pin 6] - OUT2 [pin 8] - VM [pin 5] ### U8 — [LM22678TJ-5.0/NOPB](https://www.flux.ai/adrian95/lm22678tj-5p0nopb~nux.md) - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://www.ti.com/lit/ds/symlink/lm22678.pdf - Manufacturer Name: Texas Instruments Inc. - Part Type: Integrated Circuit - Manufacturer Part Number: LM22678TJ-5.0/NOPB - Role: Power Conversion - Role Details: 12 V → 5 V synchronous buck rated for up to 5 A (servo supply) **Pins:** - BOOT [pin 3] - EN [pin 7] - FB [pin 6] - GND_1 [pin 4] - GND_2 [pin 8] - NC [pin 5] - SW [pin 1] - VIN [pin 2] ### U9 — [DRV8871DDA](https://www.flux.ai/kicad-part-library/drv8871dda~xx.md) - Manufacturer Part Number: DRV8871DDA - Manufacturer Name: Texas Instruments Inc. - Role Details: Brushed DC motor driver, 12 V capable, ~3.6 A peak — use one per motor channel - Datasheet URL: http://www.ti.com/lit/ds/symlink/drv8871.pdf - Package or Case Code: Texas_HTSOP-8-1EP_3.9x4.9mm_P1.27mm_EP2.95x4.9mm_Mask2.4x3.1mm_ThermalVias - Role: Motor Driver **Pins:** - GND [pin 7] - GND [pin 1] - GND [pin 9] - ILIM [pin 4] - IN1 [pin 3] - IN2 [pin 2] - OUT1 [pin 6] - OUT2 [pin 8] - VM [pin 5] *The full schematic, PCB layout, bill of materials, and interactive design are available at [https://www.flux.ai/nik094/eerie-peach-interocitor~gb](https://www.flux.ai/nik094/eerie-peach-interocitor~gb).* --- *Generated from [https://www.flux.ai/nik094/eerie-peach-interocitor~gb](https://www.flux.ai/nik094/eerie-peach-interocitor~gb)*