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Quadruped Robot Control Board — Block Diagram
Architecture
Text
3S LiPo (9.0–12.6 V) │ ├─ XT60-class input + external pack BMS/fuse assumption + reverse-polarity protection interface │ ├─ Buck #1 OFF-BOARD MODULE INTERFACE, 5 V, ≥10 A continuous / high transient capability │ └─ 5V_SERVO → PCA9685 V+ and eight 3-pin MG90S headers │ └─ Buck #2 OFF-BOARD MODULE INTERFACE, 5 V, ≥5 A (final rating depends on LED strips) ├─ 5V_LOGIC_LED → ESP32-S3-Zero 5V input, relay module VCC, MAX98357A VIN ├─ 3V3 from ESP32-S3-Zero → PCA9685 VCC and I²C pull-ups └─ relay COM/NO contacts switch +5 V to LED outputs; LED grounds return directly to common GND ESP32-S3-Zero ├─ GPIO7 SDA / GPIO9 SCL → PCA9685 → channels 0–7 → servo signal headers ├─ GPIO2 BCLK / GPIO4 LRC / GPIO11 DIN → MAX98357A → speaker connector ├─ GPIO5 → active-low relay IN1; GPIO6 → active-low relay IN2 └─ reserved, unused: GPIO0, 19, 20, 21, 33–37 All domains share common GND. Servo pulse logic is 3.3 V; servo power is isolated as 5V_SERVO.
Block sourcing decisions
Table
| Block | Classification | Decision |
|---|---|---|
| Battery input/protection | None | From scratch using rated connector/interface parts; no charger onboard |
| Servo 5 V power | None | Represent as off-board Buck #1 connector interface; do not invent an undersized onboard converter |
| Logic/LED 5 V power | None | Represent as off-board Buck #2 connector interface with documented rating |
| Compute | None | Exact Waveshare ESP32-S3-Zero library module required |
| Servo PWM | None | PCA9685 IC plus support passives |
| I²S audio | None | MAX98357A plus support and speaker connector |
| Relay/lighting | None | 2-channel active-low module interface and contact-side LED connectors |
No PCB layout work is authorized at this checkpoint.
Architecture
Block sourcing decisions
