# Quadruped Robot Control Board ## Description Battery-powered quadruped robot controller with ESP32-S3, PCA9685 eight-servo breakout, I2S audio, and relay-switched 5V RGB lighting. ## Project Details - **Owner:** virpro - **Created:** 8/1/2026 - **Last Updated:** 8/1/2026 - **Visibility:** Public - **Power Requirements:** Battery - **Human Interface:** Audio - **Connectivity:** Wi-Fi - **Operating Voltage:** 11.1V - **Domain:** Robotics - **Stars:** 1 - **Copies:** 2 ## Key Components ### D1 — [SMBJ15A-13-F](https://www.flux.ai/lcsc/smbj15a-13-f~8gof.md) - Manufacturer Name: DIODES(美台) - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/lcsc/2304140030_Diodes-Incorporated-SMBJ15A-13-F_C135046.pdf - Product Info Url: https://lcsc.com/product-detail/TVS_DIODES_SMBJ15A-13-F_SMBJ15A-13-F_C135046.html - Role: Protection - LCSC Part Number: C135046 - Package or Case Code: SMB_L4.6-W3.6-LS5.3-RD - Role Details: 15V standoff TVS across protected battery input - Manufacturer Part Number: SMBJ15A-13-F - JLCPCB Part Class: Extended Part - Functional Group: Power Input - Part Type: TVS **Pins:** - A [pin 2] - K [pin 1] ### J1 — [XT60PW-F](https://www.flux.ai/darkmatter2222/xt60pw-f~gr.md) - Manufacturer Part Number: XT60PW-F - Role Details: 3S LiPo 9.0-12.6V; external 15A fuse and pack BMS assumed - Manufacturer Name: AMASS - Functional Group: Power Input - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://www.snapeda.com/parts/XT60PW-F/AMASS/datasheet/ - Role: Power Input **Pins:** - Neg [pin 1] - Pos [pin 2] ### J14 — [Pin Header 01x04 2.54mm Vertical](https://www.flux.ai/adrian95/pin-header-01x04-254mm-vertical~l97.md) - Functional Group: Relay Interface - Part Type: Connector - Role: Module Interface - Role Details: 5V, GND, IN1_N, IN2_N - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] ### J15 — [XY301V-A-5.0-2P](https://www.flux.ai/jharwinbarrozo/xy301v-a-50-2p~u6.md) - Manufacturer Part Number: XY301V-A-5.0-2P - Functional Group: Relay Contacts - Datasheet URL: https://www.lcsc.com/datasheet/C557651.pdf?spm=wm.sxq.inf.ggs&lcsc_vid=E1BYV1AHFgUMXgFVQ1AMU1JVQFReXgIATwJfA10DFVkxVlNRT1dXXlVTQ1hbUjsOAxUeFF5JWBYZEEoBGA4JCwFIFA4DSA%3D%3D - Role Details: External relay COM/NO wiring; switches +5V only - Role: Relay Contact Interface - Manufacturer Name: Ningbo Xinlaiya Elec. - Part Type: Connector **Pins:** - PIN1 [pin 1] - PIN2 [pin 2] ### J17 — [XY301V-A-5.0-2P](https://www.flux.ai/jharwinbarrozo/xy301v-a-50-2p~u6.md) - Part Type: Connector - Manufacturer Name: Ningbo Xinlaiya Elec. - Role: LED Output - Role Details: Switched +5V and direct common GND - Functional Group: LED Outputs - Datasheet URL: https://www.lcsc.com/datasheet/C557651.pdf?spm=wm.sxq.inf.ggs&lcsc_vid=E1BYV1AHFgUMXgFVQ1AMU1JVQFReXgIATwJfA10DFVkxVlNRT1dXXlVTQ1hbUjsOAxUeFF5JWBYZEEoBGA4JCwFIFA4DSA%3D%3D - Manufacturer Part Number: XY301V-A-5.0-2P **Pins:** - PIN1 [pin 1] - PIN2 [pin 2] ### J19 — [DB127V-5.08-2P-GN-S](https://www.flux.ai/cherepanyadima/db127v-5p08-2p-gn-s~ic.md) - Functional Group: Audio - Role: Speaker Output - Manufacturer Part Number: DB127V-5.08-2P-GN-S - Manufacturer Name: DORABO - Part Type: Connector - Role Details: MAX98357A OUTP/OUTN; neither terminal is ground - Datasheet URL: https://www.lcsc.com/datasheet/C3018698.pdf?spm=wm.sxq.inf.ggs&lcsc_vid=ElhbUlFSRlUNBF0CQlQIBQBUFFILBFEAQVVWUgZWE1gxVlNRQVVdVFRSQ1daVDsOAxUeFF5JWBYZEEoBGA4JCwFIFA4DSA%3D%3D **Pins:** - 1 [pin 1] - 2 [pin 2] ### J2 — [XT90PB-F.G.Y](https://www.flux.ai/silicon-yard/xt90pb-fpgpy~3p.md) - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/user-uploaded/ff69b011e1e4083e1a2b774cde19a68e2ddb29f042c22e709695c5dfe6f2495c.pdf - Manufacturer Name: Changzhou Amass Elec - Symbol Style: parametric-v1 - LCSC Part Number: C19268045 - Functional Group: Off-board Buck Interfaces - Manufacturer Part Number: XT90PB-F.G.Y - Role Details: Off-board regulated buck module interface; pin polarity labeled by net - License: https://creativecommons.org/licenses/by/4.0/ - Part Type: Connector - Role: Power Connector **Pins:** - - [pin 1] - + [pin 2] ### J3 — [XT90PB-F.G.Y](https://www.flux.ai/silicon-yard/xt90pb-fpgpy~3p.md) - Part Type: Connector - Role Details: Off-board regulated buck module interface; pin polarity labeled by net - License: https://creativecommons.org/licenses/by/4.0/ - Functional Group: Off-board Buck Interfaces - Manufacturer Part Number: XT90PB-F.G.Y - LCSC Part Number: C19268045 - Role: Power Connector - Symbol Style: parametric-v1 - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/user-uploaded/ff69b011e1e4083e1a2b774cde19a68e2ddb29f042c22e709695c5dfe6f2495c.pdf - Manufacturer Name: Changzhou Amass Elec **Pins:** - - [pin 1] - + [pin 2] ### J4 — [XT90PB-F.G.Y](https://www.flux.ai/silicon-yard/xt90pb-fpgpy~3p.md) - Role: Power Connector - Manufacturer Part Number: XT90PB-F.G.Y - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Functional Group: Off-board Buck Interfaces - Manufacturer Name: Changzhou Amass Elec - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/user-uploaded/ff69b011e1e4083e1a2b774cde19a68e2ddb29f042c22e709695c5dfe6f2495c.pdf - Role Details: Off-board regulated buck module interface; pin polarity labeled by net - LCSC Part Number: C19268045 - Symbol Style: parametric-v1 **Pins:** - - [pin 1] - + [pin 2] ### J5 — [XT90PB-F.G.Y](https://www.flux.ai/silicon-yard/xt90pb-fpgpy~3p.md) - Symbol Style: parametric-v1 - Functional Group: Off-board Buck Interfaces - LCSC Part Number: C19268045 - Role: Power Connector - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/user-uploaded/ff69b011e1e4083e1a2b774cde19a68e2ddb29f042c22e709695c5dfe6f2495c.pdf - Manufacturer Name: Changzhou Amass Elec - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Part Number: XT90PB-F.G.Y - Role Details: Off-board regulated buck module interface; pin polarity labeled by net **Pins:** - - [pin 1] - + [pin 2] ### 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 Outputs - Part Type: Connector - Role: Servo Connector - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: GND, 5V_SERVO, PWM channel **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### J7 — [XY301V-A-5.0-2P](https://www.flux.ai/jharwinbarrozo/xy301v-a-50-2p~u6.md) - Functional Group: Relay Contacts - Datasheet URL: https://www.lcsc.com/datasheet/C557651.pdf?spm=wm.sxq.inf.ggs&lcsc_vid=E1BYV1AHFgUMXgFVQ1AMU1JVQFReXgIATwJfA10DFVkxVlNRT1dXXlVTQ1hbUjsOAxUeFF5JWBYZEEoBGA4JCwFIFA4DSA%3D%3D - Manufacturer Part Number: XY301V-A-5.0-2P - Role Details: External relay COM/NO wiring; switches +5V only - Manufacturer Name: Ningbo Xinlaiya Elec. - Part Type: Connector - Role: Relay Contact Interface **Pins:** - PIN1 [pin 1] - PIN2 [pin 2] ### J8 — [XY301V-A-5.0-2P](https://www.flux.ai/jharwinbarrozo/xy301v-a-50-2p~u6.md) - Datasheet URL: https://www.lcsc.com/datasheet/C557651.pdf?spm=wm.sxq.inf.ggs&lcsc_vid=E1BYV1AHFgUMXgFVQ1AMU1JVQFReXgIATwJfA10DFVkxVlNRT1dXXlVTQ1hbUjsOAxUeFF5JWBYZEEoBGA4JCwFIFA4DSA%3D%3D - Manufacturer Part Number: XY301V-A-5.0-2P - Role Details: Switched +5V and direct common GND - Manufacturer Name: Ningbo Xinlaiya Elec. - Functional Group: LED Outputs - Role: LED Output - Part Type: Connector **Pins:** - PIN1 [pin 1] - PIN2 [pin 2] ### Servo1 — [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 - Functional Group: Servo Outputs - Role: Servo Connector - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: GND, 5V_SERVO, PWM channel **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo2 — [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 Connector - Part Type: Connector - Functional Group: Servo Outputs - Role Details: GND, 5V_SERVO, PWM channel - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo3 — [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: GND, 5V_SERVO, PWM channel - Part Type: Connector - Functional Group: Servo Outputs - Role: Servo Connector - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo4 — [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: Servo Connector - Role Details: GND, 5V_SERVO, PWM channel - License: https://creativecommons.org/licenses/by/4.0/ - Functional Group: Servo Outputs **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### 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) - Functional Group: Servo Outputs - License: https://creativecommons.org/licenses/by/4.0/ - Role: Servo Connector - Part Type: Connector - Role Details: GND, 5V_SERVO, PWM channel **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo6 — [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: GND, 5V_SERVO, PWM channel - Part Type: Connector - Functional Group: Servo Outputs - Role: Servo Connector - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### Servo7 — [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 Outputs - Part Type: Connector - Role: Servo Connector - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: GND, 5V_SERVO, PWM channel **Pins:** - 5v [pin 2] - Data [pin 3] - Gnd [pin 1] ### TP1 — [5019](https://www.flux.ai/adrian95/5019~fxh.md) - Functional Group: Test Points - Role: Test Point - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Part Number: 5019 - Datasheet URL: https://www.keyelco.com/product-pdf.cfm?p=1357 - Manufacturer Name: Keystone Electronics - Role Details: Critical rail or control signal bring-up access - Package or Case Code: 5019 - Part Type: Test Point **Pins:** - 1 [pin 1] ### TP2 — [5019](https://www.flux.ai/adrian95/5019~fxh.md) - Role: Test Point - Package or Case Code: 5019 - Part Type: Test Point - Manufacturer Name: Keystone Electronics - Manufacturer Part Number: 5019 - Datasheet URL: https://www.keyelco.com/product-pdf.cfm?p=1357 - Role Details: Critical rail or control signal bring-up access - Functional Group: Test Points - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 1 [pin 1] ### TP3 — [5019](https://www.flux.ai/adrian95/5019~fxh.md) - Package or Case Code: 5019 - Part Type: Test Point - Manufacturer Name: Keystone Electronics - Functional Group: Test Points - Manufacturer Part Number: 5019 - Datasheet URL: https://www.keyelco.com/product-pdf.cfm?p=1357 - Role: Test Point - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: Critical rail or control signal bring-up access **Pins:** - 1 [pin 1] ### TP4 — [5019](https://www.flux.ai/adrian95/5019~fxh.md) - Manufacturer Name: Keystone Electronics - Role: Test Point - Role Details: Critical rail or control signal bring-up access - Package or Case Code: 5019 - Part Type: Test Point - License: https://creativecommons.org/licenses/by/4.0/ - Functional Group: Test Points - Manufacturer Part Number: 5019 - Datasheet URL: https://www.keyelco.com/product-pdf.cfm?p=1357 **Pins:** - 1 [pin 1] ### TP5 — [5019](https://www.flux.ai/adrian95/5019~fxh.md) - Datasheet URL: https://www.keyelco.com/product-pdf.cfm?p=1357 - Manufacturer Part Number: 5019 - Role: Test Point - Functional Group: Test Points - License: https://creativecommons.org/licenses/by/4.0/ - Package or Case Code: 5019 - Part Type: Test Point - Role Details: Critical rail or control signal bring-up access - Manufacturer Name: Keystone Electronics **Pins:** - 1 [pin 1] ### TP6 — [5019](https://www.flux.ai/adrian95/5019~fxh.md) - License: https://creativecommons.org/licenses/by/4.0/ - Role: Test Point - Datasheet URL: https://www.keyelco.com/product-pdf.cfm?p=1357 - Manufacturer Part Number: 5019 - Role Details: Critical rail or control signal bring-up access - Functional Group: Test Points - Manufacturer Name: Keystone Electronics - Part Type: Test Point - Package or Case Code: 5019 **Pins:** - 1 [pin 1] ### TP7 — [5019](https://www.flux.ai/adrian95/5019~fxh.md) - Package or Case Code: 5019 - Part Type: Test Point - Functional Group: Test Points - Manufacturer Name: Keystone Electronics - Datasheet URL: https://www.keyelco.com/product-pdf.cfm?p=1357 - Manufacturer Part Number: 5019 - Role Details: Critical rail or control signal bring-up access - License: https://creativecommons.org/licenses/by/4.0/ - Role: Test Point **Pins:** - 1 [pin 1] ### TP8 — [5019](https://www.flux.ai/adrian95/5019~fxh.md) - Manufacturer Name: Keystone Electronics - Package or Case Code: 5019 - Part Type: Test Point - Functional Group: Test Points - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: Critical rail or control signal bring-up access - Role: Test Point - Datasheet URL: https://www.keyelco.com/product-pdf.cfm?p=1357 - Manufacturer Part Number: 5019 **Pins:** - 1 [pin 1] ### TP9 — [5019](https://www.flux.ai/adrian95/5019~fxh.md) - Datasheet URL: https://www.keyelco.com/product-pdf.cfm?p=1357 - Functional Group: Test Points - Manufacturer Part Number: 5019 - License: https://creativecommons.org/licenses/by/4.0/ - Package or Case Code: 5019 - Part Type: Test Point - Role Details: Critical rail or control signal bring-up access - Role: Test Point - Manufacturer Name: Keystone Electronics **Pins:** - 1 [pin 1] ### U1 — [ESP32-S3-ZERO](https://www.flux.ai/silicon-yard/esp32-s3-zero.md) - Symbol Style: parametric-v1 - Functional Group: Compute - Role Details: Main controller; 5V input; exact GPIO map per specification - Manufacturer Name: Waveshare - Manufacturer Part Number: ESP32-S3-ZERO - Role: Microcontroller Module - Part Type: Integrated Circuits - Datasheet: https://files.waveshare.com/wiki/ESP32-S3-Zero/ESP32-S3-Zero-Sch.pdf - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/user-uploaded/96f89733283336146f57b69e206e3c01fab83d45487f716e83a922abacf38f14.pdf **Pins:** - 3V3(OUT) [pin 3V3] - 5V [pin 5V] - GND [pin GND] - GP1 [pin 1] - GP10 [pin 10] - GP11 [pin 11] - GP12 [pin 12] - GP13 [pin 13] - GP2 [pin 2] - GP3 [pin 3] - GP4 [pin 4] - GP5 [pin 5] - GP6 [pin 6] - GP7 [pin 7] - GP8 [pin 8] - GP9 [pin 9] - RX [pin RX] - TX [pin TX] ### U2 — [PCA9685PW,118](https://www.flux.ai/adrian95/pca9685pwc118~om.md) - Manufacturer Part Number: PCA9685PW,118 - Manufacturer Name: NXP USA Inc. - Role: PWM Controller - Role Details: 3.3V logic; channels 0-7 drive servo headers; OE reset-safe - Datasheet URL: https://datasheet.octopart.com/PCA9685PW%2C118-NXP-Semiconductors-datasheet-82522728.pdf - Part Type: Integrated Circuit - Symbol Style: parametric-v1 - Functional Group: Servo PWM - License: https://creativecommons.org/licenses/by/4.0/ **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 — [MAX98357AETE+T](https://www.flux.ai/adrian95/max98357aeteplust~wk.md) - Manufacturer Name: Analog Devices Inc./Maxim Integrated - Role Details: 5V supply; 3.3V I2S from ESP32-S3 - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://www.analog.com/media/en/technical-documentation/data-sheets/max98357a-max98357b.pdf - Functional Group: Audio - Role: Audio Amplifier - Manufacturer Part Number: MAX98357AETE+T - Symbol Style: parametric-v1 - Part Type: Integrated Circuit **Pins:** - ~SD_MODE [pin 4] - BCLK [pin 16] - DIN [pin 1] - GAIN_SLOT [pin 2] - GND_1 [pin 3] - GND_2 [pin 11] - GND_3 [pin 15] - LRCLK [pin 14] - N.C._1 [pin 5] - N.C._2 [pin 6] - N.C._3 [pin 12] - N.C._4 [pin 13] - OUTN [pin 10] - OUTP [pin 9] - THERMAL_PAD [pin 17] - VDD_1 [pin 7] - VDD_2 [pin 8] *The full schematic, PCB layout, bill of materials, and interactive design are available at [https://www.flux.ai/virpro/quadruped-robot-control-board~ml](https://www.flux.ai/virpro/quadruped-robot-control-board~ml).* --- *Generated from [https://www.flux.ai/virpro/quadruped-robot-control-board~ml](https://www.flux.ai/virpro/quadruped-robot-control-board~ml)*