Text
USB 5 V
   |
[TP4056 charger/protection module]
   | BAT+/BAT-
[Protected removable 1S 18650]
   |
[Master OFF/CHARGE - RUN switch / load isolation]
   |
   +--> [High-current 5 V boost module, >=4 A transient output]
             |
             +--> 5V_LOGIC branch --> ESP32-C3 dev module 5V/VBUS (only if module supports it)
             |
             +--> 5V_MOTOR branch --> 470 uF + 100 nF --> TB6612FNG VM
                                                   |
ESP32-C3 3V3 --> TB6612FNG VCC + 100 nF
ESP32 GPIOs --> AIN1/AIN2/PWMA/BIN1/BIN2/PWMB
ESP32 GPIO + RUN/ENABLE hardware chain --> STBY (10 kOhm pull-down)
TB6612 A01/A02 --> per-motor series protection --> 3.5 mm jack M1 --> motor 1
TB6612 B01/B02 --> per-motor series protection --> 3.5 mm jack M2 --> motor 2
All grounds common; motor and logic branches remain physically distinct until the source/star region.

• OFF/CHARGE: robot load disconnected; boost, ESP32 and motor driver unpowered; charging allowed.
• RUN: charger input must be absent; switched battery feeds boost. Motors still disabled until the accessible RUN/ENABLE control is asserted and firmware drives STBY high.
• STBY has a hardware pull-down, so reset, unpowered MCU, or open enable chain disables the H-bridge.
• The two motor conductors cannot reliably double as insertion detection without risking shorting or false-safe behavior. Motor plugs must only be changed while master power is OFF.