# Closed-Loop DC Motor Controller ## Description Robotics-ready closed-loop brushed DC motor controller with bidirectional 2 A H-bridge drive, quadrature encoder feedback, current sensing, protection, MCU control, debug access, and status indicators. ## Project Details - **Owner:** pernu - **Created:** 8/13/2026 - **Last Updated:** 8/14/2026 - **Visibility:** Public ## Key Components ### DS1 — [CA56-12SRWA](https://www.flux.ai/kicad-part-library/ca56-12srwa~42.md) - Part Type: Display 7Segment - Manufacturer Part Number: CA56-12SRWA - Package or Case Code: CA56-12SRWA - Datasheet URL: http://www.kingbrightusa.com/images/catalog/SPEC/CA56-12SRWA.pdf - Functional Group: Display Subsystem - Role Details: Kingbright 4-digit common-anode display driven by TM1637 - Role: Timer Display **Pins:** - a [pin 11] - b [pin 7] - c [pin 4] - CA1 [pin 12] - CA2 [pin 9] - CA3 [pin 8] - CA4 [pin 6] - d [pin 2] - DPX [pin 3] - e [pin 1] - f [pin 10] - g [pin 5] ### J1 — [SM02B-SRSS-TB(LF)(SN)](https://www.flux.ai/adrian95/sm02b-srss-tblfsn~zzs.md) - Package or Case Code: SM02BSRSSTBLFSN - Manufacturer Name: JST Sales America Inc. - Part Type: Connector - Functional Group: External Interfaces - Manufacturer Part Number: SM02B-SRSS-TB(LF)(SN) - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/user-uploaded/2f7d5393eb1f236698fbdc2a49add1d8f53dfb94e1cf07ec6cea2889da0d54a0.pdf **Pins:** - 1 [pin 1] - 2 [pin 2] - MP1 [pin 3] - MP2 [pin 4] ### J2 — [SM02B-SRSS-TB(LF)(SN)](https://www.flux.ai/adrian95/sm02b-srss-tblfsn~zzs.md) - Manufacturer Part Number: SM02B-SRSS-TB(LF)(SN) - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/user-uploaded/2f7d5393eb1f236698fbdc2a49add1d8f53dfb94e1cf07ec6cea2889da0d54a0.pdf - License: https://creativecommons.org/licenses/by/4.0/ - Package or Case Code: SM02BSRSSTBLFSN - Functional Group: External Interfaces - Part Type: Connector - Manufacturer Name: JST Sales America Inc. **Pins:** - 1 [pin 1] - 2 [pin 2] - MP1 [pin 3] - MP2 [pin 4] ### J3 — [Pin Header 01x04 2.54mm Vertical](https://www.flux.ai/adrian95/pin-header-01x04-254mm-vertical~l97.md) - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Functional Group: MCU and Debug **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] ### J4 — [S2B-PH-K-S(LF)(SN)](https://www.flux.ai/lcsc/s2b-ph-k-slfsn~vk6f.md) - Manufacturer Name: JST - JLCPCB Part Class: Extended Part - Functional Group: Power Input - Product Info Url: https://lcsc.com/product-detail/PH-Connectors_JST-Sales-America_S2B-PH-K-S-LF-SN_JST-Sales-America-S2B-PH-K-S-LF-SN_C173752.html - Package or Case Code: CONN-TH_S2B-PH-K-S-LF-SN - Manufacturer Part Number: S2B-PH-K-S(LF)(SN) - Part Type: Wire To Board / Wire To Wire Connector - LCSC Part Number: C173752 - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/lcsc/2304140030_JST-S2B-PH-K-S-LF-SN_C173752.pdf **Pins:** - 1 [pin 1] - 2 [pin 2] ### Q1 — [AO3401A](https://www.flux.ai/jecstronic/ao3401a~9r5.md) - Manufacturer Part Number: AO3401A - Part Type: Transistor - Manufacturer Name: HUASHUO - Functional Group: Display Subsystem - Datasheet URL: https://www.lcsc.com/datasheet/lcsc_datasheet_2007171935_HUASHUO-AO3401A_C700954.pdf - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - D [pin 3] - G [pin 1] - S [pin 2] ### Q2 — [AO3400A](https://www.flux.ai/adrian95/ao3400a~ug9.md) - License: https://creativecommons.org/licenses/by/4.0/ - Functional Group: Battery Measurement - Datasheet URL: https://media.digikey.com/pdf/Data%20Sheets/Alpha%20&%20Omega/AO3400A_ds.pdf - Part Type: Transistor - Manufacturer Part Number: AO3400A - Manufacturer Name: Alpha & Omega Semiconductor Inc. **Pins:** - D [pin 3] - G [pin 1] - S [pin 2] ### SW1 — [SH-6X6X5H-TP](https://www.flux.ai/silicon-yard/sh-6x6x5h-tp~6j.md) - Package or Case Code: SW-SMD_4P-L6.0-W6.0-P4.50-LS9.0-2 - Manufacturer Name: SHOU HAN - LCSC Part Number: C42416254 - Current Rating: 50mA - Functional Group: User Interface - Switch Type: Tactile Switch - JLCPCB Part Class: Extended Part - Voltage Rating: 12V - Part Type: Tactile Switches - Throw Configuration: SPST - Manufacturer Part Number: SH-6X6X5H-TP - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/user-uploaded/39e804462b25c23e9a04d26059df9e5776e9b6fc2d360285023d8ddd3112556a.pdf **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] - 4 [pin 4] ### SW2 — [SH-6X6X5H-TP](https://www.flux.ai/silicon-yard/sh-6x6x5h-tp~6j.md) - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/user-uploaded/39e804462b25c23e9a04d26059df9e5776e9b6fc2d360285023d8ddd3112556a.pdf - Voltage Rating: 12V - Part Type: Tactile Switches - Throw Configuration: SPST - Manufacturer Part Number: SH-6X6X5H-TP - Switch Type: Tactile Switch - JLCPCB Part Class: Extended Part - Functional Group: User Interface - Current Rating: 50mA - LCSC Part Number: C42416254 - Manufacturer Name: SHOU HAN - Package or Case Code: SW-SMD_4P-L6.0-W6.0-P4.50-LS9.0-2 **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] - 4 [pin 4] ### U1 — [PY32F002BF15U6TR](https://www.flux.ai/silicon-yard/py32f002bf15u6tr~7a.md) - Symbol Style: parametric-v1 - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/user-uploaded/f0f0807ade7b60c840bad6df8211e387cb4f8fe71472f864cb3acceb35b12a57.pdf - Functional Group: MCU and Debug - Manufacturer Part Number: PY32F002BF15U6TR - Part Type: Integrated Circuits - Manufacturer Name: PUYA **Pins:** - EPAD [pin 21] - PA0 [pin 13] - PA1 [pin 14] - PA2(SWCLK) [pin 15] - PA3 [pin 16] - PA4 [pin 17] - PA5 [pin 18] - PA6 [pin 19] - PA7 [pin 20] - PB0 [pin 12] - PB1 [pin 11] - PB2 [pin 10] - PB3 [pin 9] - PB4 [pin 8] - PB5 [pin 7] - PB6(SWDIO) [pin 5] - PB7-OSCOUT [pin 3] - PC0-NRST [pin 1] - PC1-OSCIN [pin 2] - VCC [pin 6] - VSS [pin 4] ### U2 — [TM1637](https://www.flux.ai/lcsc/tm1637~5ebn.md) - Part Type: Integrated Circuit - Functional Group: Display Subsystem - Package or Case Code: SOP-20_L12.8-W7.5-P1.27-LS10.4-BL - Manufacturer Name: TM(天微) - Symbol Style: parametric-v1 - Manufacturer Part Number: TM1637 - JLCPCB Part Class: Extended Part - Datasheet URL: https://www.snapeda.com/parts/TM1637/Titan%20Micro%20Electronics/datasheet/ - LCSC Part Number: C2962580 **Pins:** - CLK [pin 18] - DIO [pin 17] - GND [pin 1] - GRID1 [pin 15] - GRID2 [pin 14] - GRID3 [pin 13] - GRID4 [pin 12] - GRID5 [pin 11] - GRID6 [pin 10] - K1 [pin 19] - K2 [pin 20] - SEG1/KS1 [pin 2] - SEG2/KS2 [pin 3] - SEG3/KS3 [pin 4] - SEG4/KS4 [pin 5] - SEG5/KS5 [pin 6] - SEG6/KS6 [pin 7] - SEG7/KS7 [pin 8] - SEG8/KS8 [pin 9] - VDD [pin 16] ### U3 — [DRV8837CDSGR](https://www.flux.ai/lcsc/drv8837cdsgr~2zg5.md) - Product Info Url: https://lcsc.com/product-detail/Others_Texas-Instruments_DRV8837CDSGR_Texas-Instruments-TI-DRV8837CDSGR_C191000.html - Manufacturer Part Number: DRV8837CDSGR - Functional Group: Motor Drive - Manufacturer Name: TI(德州仪器) - Part Type: Motor Driver ICs - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/lcsc/1810291821_Texas-Instruments-DRV8837CDSGR_C191000.pdf - JLCPCB Part Class: Extended Part - Package or Case Code: WSON-8_L2.0-W2.0-P0.50-TL-EP - LCSC Part Number: C191000 **Pins:** - GND [pin 4] - IN1 [pin 6] - IN2 [pin 5] - NSLEEP [pin 7] - OUT1 [pin 2] - OUT2 [pin 3] - PAD [pin 9] - VCC [pin 8] - VMIN [pin 1] *The full schematic, PCB layout, bill of materials, and interactive design are available at [https://www.flux.ai/pernu/closed-loop-dc-motor-controller~og](https://www.flux.ai/pernu/closed-loop-dc-motor-controller~og).* --- *Generated from [https://www.flux.ai/pernu/closed-loop-dc-motor-controller~og](https://www.flux.ai/pernu/closed-loop-dc-motor-controller~og)*