# Disturbed Green Massive Robot Spider ## Description RoboStyle Base Station Control Board – ESP32-WROOM-32, DRV8825 Stepper, Dual DIP-16 DRV8833 Actuators, High-Current Track Output, USB/Heatsink Keep-Clear, Zero-DRC Prep ## Project Details - **Owner:** walle5eva - **Created:** 1/17/2026 - **Last Updated:** 1/17/2026 - **Visibility:** Public - **airwires_issues:** DRC review required: multiple nets in schematic have no PCB connections yet (BOUT1 partial, BOUT2, E_STOP_OUT, nFAULT, some ADC variants). Expect airwires on these nets until routed or intentionally NC’d. No specific shorted-net airwire conflicts identified from schematic alone; run board-level DRC and inspect unrouted airwires around TRACK_DRIVER header, J7 track output, E-STOP loop, and ESP32 ADC pins. - **Unrouted Nets:** BOUT1, BOUT2, E_STOP_OUT, nFAULT, ADC - **floating_copper_issues:** DRC review required: Floating copper region on Top layer near J1 pads; Floating copper region on Bottom layer near J1 pads; Isolated copper island near J7 track output terminal; Floating copper polygon near net nFAULT on Top layer; Isolated copper patch near BOUT1 trace. Inspect and either tie to GND with vias or remove, then repour all zones. - **Net Type:** Mixed (Power + Digital Control + Ground Star) - **Role:** Power Conversion - **Human Interface:** Buttons - **Software:** Arduino - **Power Requirements:** Battery - **Part Type:** Power Management - **License:** https://creativecommons.org/licenses/by/4.0/ - **Role Details:** Base station control board using ESP32-WROOM-32 to drive one DRV8825 stepper channel from 12 V and two DRV8833 linear/actuator channels from a 6 V buck rail, with E-Stop and star-grounding. - **Domain:** Industrial/Manufacturing - **Manufacturing Quantity Target:** 10 - **Connectivity:** WiFi - **Operating Temperature:** -20 to 60 °C - **Operating Voltage:** 12V - **System Architecture:** flowchart TD subgraph Sockets DIP_A["DIP-16 Socket A"] DIP_B["DIP-16 Socket B"] end subgraph ClearanceZones USB["USB Keep-Clear (15mm)"] HS["Heatsink Keep-Clear (10mm)"] end subgraph GroundPlane GND["Reinforced GND Plane"] end USB --> Sockets HS --> Sockets Sockets --> GND - **Floating Copper Issues:** Floating copper region on Top layer near J1 pads; Floating copper region on Bottom layer near J1 pads; Isolated copper island near J7 track output terminal; Floating copper polygon near net nFAULT on Top layer; Isolated copper patch near BOUT1 trace ## Key Components ### ACT_1 — [31001102](https://www.flux.ai/lcsc/31001102.md) - Role: Connector - Manufacturer Name: METZ CONNECT - Datasheet URL: https://assets.lcsc.com/datasheet/szlcsc/Download-ISO9001-Certification.pdf - Part Type: Screw terminal - LCSC Part Number: C123210 - Manufacturer Part Number: 31001102 - Product Info Url: https://lcsc.com/product-detail/Terminal-Blocks_1x2P-pitch5-0mm_C123210.html - Role Details: Actuator output screw terminal for channel 1 - Package or Case Code: CONN-TH_2P-P5.08_31001102 - JLCPCB Part Class: Extended Part **Pins:** - 1 [pin 1] - 2 [pin 2] ### ACT_2 — [31001102](https://www.flux.ai/lcsc/31001102.md) - Part Type: Screw terminal - Role Details: Actuator output screw terminal for channel 2 - Manufacturer Name: METZ CONNECT - Datasheet URL: https://assets.lcsc.com/datasheet/szlcsc/Download-ISO9001-Certification.pdf - Role: Connector - JLCPCB Part Class: Extended Part - Package or Case Code: CONN-TH_2P-P5.08_31001102 - Product Info Url: https://lcsc.com/product-detail/Terminal-Blocks_1x2P-pitch5-0mm_C123210.html - LCSC Part Number: C123210 - Manufacturer Part Number: 31001102 **Pins:** - 1 [pin 1] - 2 [pin 2] ### ACT_3 — [31001102](https://www.flux.ai/lcsc/31001102.md) - LCSC Part Number: C123210 - Manufacturer Part Number: 31001102 - Product Info Url: https://lcsc.com/product-detail/Terminal-Blocks_1x2P-pitch5-0mm_C123210.html - Role Details: Actuator output screw terminal for channel 3 - Package or Case Code: CONN-TH_2P-P5.08_31001102 - JLCPCB Part Class: Extended Part - Manufacturer Name: METZ CONNECT - Datasheet URL: https://assets.lcsc.com/datasheet/szlcsc/Download-ISO9001-Certification.pdf - Part Type: Screw terminal - Role: Connector **Pins:** - 1 [pin 1] - 2 [pin 2] ### ACTUATOR_DRIVER_A — [Pin Socket 01x16 2.54mm Vertical](https://www.flux.ai/adrian95/pin-socket-01x16-254mm-vertical.md) - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: DIP-16 socket for DRV8833 actuator driver A module - Role: Connector - 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_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] - Pin_5 [pin 5] - Pin_6 [pin 6] - Pin_7 [pin 7] - Pin_8 [pin 8] - Pin_9 [pin 9] ### ACTUATOR_DRIVER_A — [Pin Socket 01x16 2.54mm Vertical](https://www.flux.ai/adrian95/pin-socket-01x16-254mm-vertical.md) - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: DIP-16 socket for DRV8833 actuator driver channel A placed on right side outside USB and heatsink keep-clear zones - Role: Connector - 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_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] - Pin_5 [pin 5] - Pin_6 [pin 6] - Pin_7 [pin 7] - Pin_8 [pin 8] - Pin_9 [pin 9] ### ACTUATOR_DRIVER_B — [Pin Socket 01x16 2.54mm Vertical](https://www.flux.ai/adrian95/pin-socket-01x16-254mm-vertical.md) - Part Type: Connector - Role: Connector - Role Details: DIP-16 socket for DRV8833 actuator driver channel B placed on right side outside USB and heatsink keep-clear zones - License: https://creativecommons.org/licenses/by/4.0/ **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_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] - Pin_5 [pin 5] - Pin_6 [pin 6] - Pin_7 [pin 7] - Pin_8 [pin 8] - Pin_9 [pin 9] ### ACTUATOR_DRIVER_B — [Pin Socket 01x16 2.54mm Vertical](https://www.flux.ai/adrian95/pin-socket-01x16-254mm-vertical.md) - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Role: Connector - Role Details: DIP-16 socket for DRV8833 actuator driver B module **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_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] - Pin_5 [pin 5] - Pin_6 [pin 6] - Pin_7 [pin 7] - Pin_8 [pin 8] - Pin_9 [pin 9] ### CN1 — [31001102](https://www.flux.ai/lcsc/31001102.md) - Part Type: Screw terminal - Role: Connector - Manufacturer Name: METZ CONNECT - Datasheet URL: https://assets.lcsc.com/datasheet/szlcsc/Download-ISO9001-Certification.pdf - Role Details: Switched PWM track output terminal - Package or Case Code: CONN-TH_2P-P5.08_31001102 - JLCPCB Part Class: Extended Part - LCSC Part Number: C123210 - Manufacturer Part Number: 31001102 - Product Info Url: https://lcsc.com/product-detail/Terminal-Blocks_1x2P-pitch5-0mm_C123210.html **Pins:** - 1 [pin 1] - 2 [pin 2] ### E-STOP — [2-644861-2](https://www.flux.ai/adrian95/2-644861-2.md) - Manufacturer Part Number: 2-644861-2 - Role: Connector - Manufacturer Name: TE Connectivity AMP Connectors - Datasheet URL: https://www.te.com/commerce/DocumentDelivery/DDEController?Action=srchrtrv&DocNm=644861&DocType=Customer+Drawing&DocLang=English&PartCntxt=2-644861-2&DocFormat=pdf - Role Details: E-STOP header, series interrupt for 12V_IN - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] ### J1 — [Pin Socket 01x16 2.54mm Vertical](https://www.flux.ai/adrian95/pin-socket-01x16-254mm-vertical.md) - Part Type: Connector - Role: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: Socket for DRV8825 StepStick module **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_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] - Pin_5 [pin 5] - Pin_6 [pin 6] - Pin_7 [pin 7] - Pin_8 [pin 8] - Pin_9 [pin 9] ### J1 — [PPTC082LFBN-RC](https://www.flux.ai/adrian95/pptc082lfbn-rc.md) - Manufacturer Part Number: PPTC082LFBN-RC - Package or Case Code: RHDR16W75P254_2X8_2082X508X850P - Datasheet URL: https://mm.digikey.com/Volume0/opasdata/d220001/medias/docus/937/Female_Headers.100_DS.pdf - Part Type: Connector - Role Details: Socket for DRV8825 StepStick module - Manufacturer Name: Sullins Connector Solutions - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 1 [pin 1] - 10 [pin 10] - 11 [pin 11] - 12 [pin 12] - 13 [pin 13] - 14 [pin 14] - 15 [pin 15] - 16 [pin 16] - 2 [pin 2] - 3 [pin 3] - 4 [pin 4] - 5 [pin 5] - 6 [pin 6] - 7 [pin 7] - 8 [pin 8] - 9 [pin 9] ### J10 — [Pin Header 01x05 2.54mm Vertical](https://www.flux.ai/adrian95/pin-header-01x05-254mm-vertical.md) - Role Details: Actuator Header providing Motor+, Motor–, 3.3V, Wiper->ADC, and GND - Role: Connector - Part Type: Connector - Package: PIN_SingleRow_THT_2.54 - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] - 4 [pin 4] - 5 [pin 5] ### J11 — [Pin Header 01x05 2.54mm Vertical](https://www.flux.ai/adrian95/pin-header-01x05-254mm-vertical.md) - Role: Connector - Role Details: Actuator Header providing Motor+, Motor–, 3.3V, Wiper->ADC, and GND - License: https://creativecommons.org/licenses/by/4.0/ - Package: PIN_SingleRow_THT_2.54 - Part Type: Connector **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] - 4 [pin 4] - 5 [pin 5] ### J12 — [0022232031](https://www.flux.ai/adrian95/0022232031.md) - Datasheet URL: https://www.molex.com/pdm_docs/sd/022232031_sd.pdf - Manufacturer Part Number: 0022232031 - Part Type: Connector - Role Details: UART header (TX, RX, GND) for Raspberry Pi - Manufacturer Name: Molex - License: https://creativecommons.org/licenses/by/4.0/ - Role: Connector **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] ### J2 — [Pin Header 02x07 2.54mm Vertical](https://www.flux.ai/adrian95/pin-header-02x07-254mm-vertical.md) - Role Details: DRV8833 carrier header matching Pololu pinout - Part Type: Connector - Role: Connector - License: https://creativecommons.org/licenses/by/4.0/ **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_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] - Pin_5 [pin 5] - Pin_6 [pin 6] - Pin_7 [pin 7] - Pin_8 [pin 8] - Pin_9 [pin 9] ### J3 — [Pin Header 02x07 2.54mm Vertical](https://www.flux.ai/adrian95/pin-header-02x07-254mm-vertical.md) - Role Details: DRV8833 carrier header matching Pololu pinout - Part Type: Connector - Role: Connector - License: https://creativecommons.org/licenses/by/4.0/ **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_2 [pin 2] - Pin_3 [pin 3] - 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 — [Pin Socket 01x19 2.54mm Vertical](https://www.flux.ai/adrian95/pin-socket-01x19-254mm-vertical.md) - License: https://creativecommons.org/licenses/by/4.0/ - Role: Connector - Part Type: Connector - Role Details: DevKit header for ESP32 module replacement **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_3 [pin 3] - Pin_4 [pin 4] - Pin_5 [pin 5] - Pin_6 [pin 6] - Pin_7 [pin 7] - Pin_8 [pin 8] - Pin_9 [pin 9] ### J5 — [Pin Socket 01x19 2.54mm Vertical](https://www.flux.ai/adrian95/pin-socket-01x19-254mm-vertical.md) - Part Type: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Role Details: DevKit header for ESP32 module replacement - Role: 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_3 [pin 3] - Pin_4 [pin 4] - Pin_5 [pin 5] - Pin_6 [pin 6] - Pin_7 [pin 7] - Pin_8 [pin 8] - Pin_9 [pin 9] ### J6 — [61300411121](https://www.flux.ai/adrian95/61300411121.md) - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Name: Wurth Elektronik - Part Type: Connector - Package or Case Code: HDRV4W95P0X254_1X4_1016X254X854P - Role Details: Header for LM2596/XL4015 buck converter module - Role: Connector - Manufacturer Part Number: 61300411121 - Datasheet URL: https://www.we-online.com/components/products/datasheet/61300411121.pdf **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] - 4 [pin 4] ### J7 — [31001102](https://www.flux.ai/lcsc/31001102.md) - Part Type: Screw terminal - Manufacturer Name: METZ CONNECT - Datasheet URL: https://assets.lcsc.com/datasheet/szlcsc/Download-ISO9001-Certification.pdf - Role: Connector - Role Details: Battery input terminal - JLCPCB Part Class: Extended Part - Package: CONN-TH_2P-P5.08_31001102 - Package or Case Code: CONN-TH_2P-P5.08_31001102 - Product Info Url: https://lcsc.com/product-detail/Terminal-Blocks_1x2P-pitch5-0mm_C123210.html - LCSC Part Number: C123210 - Manufacturer Part Number: 31001102 **Pins:** - 1 [pin 1] - 2 [pin 2] ### J8 — [Terminal Block, 4-Contact, 5.08mm Pitch, Through Hole Mount, 1-Row, Screw Termination](https://www.flux.ai/mrcyme/terminal-blockc-4-contactc-5p08mm-pitchc-through-hole-mountc-1-rowc-screw-termination.md) - Role: Connector - License: https://creativecommons.org/licenses/by/4.0/ - Datasheet URL: https://www.lcsc.com/datasheet/lcsc_datasheet_2303271530_DORABO-DB2ERC-3-5-9P-GN_C430560.pdf - Part Type: Connector - Manufacturer Part Number: DB2ERC-3.5-9P-GN - Role Details: Stepper motor phase connector - Manufacturer Name: DORABO **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] ### J9 — [Pin Header 01x05 2.54mm Vertical](https://www.flux.ai/adrian95/pin-header-01x05-254mm-vertical.md) - Part Type: Connector - Package: PIN_SingleRow_THT_2.54 - License: https://creativecommons.org/licenses/by/4.0/ - Role: Connector - Role Details: Actuator Header providing Motor+, Motor–, 3.3V, Wiper->ADC, and GND **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] - 4 [pin 4] - 5 [pin 5] ### Q1 — [IRLZ44ZPBF](https://www.flux.ai/lcsc/irlz44zpbf.md) - Manufacturer Part Number: IRLZ44ZPBF - Package or Case Code: TO-220-3_L10.0-W4.5-P2.54-L - Role: Switching - Manufacturer Name: Infineon(英飞凌) - Role Details: Low-side PWM switch for track output (gate from U1 PWM GPIO) - LCSC Part Number: C538200 - JLCPCB Part Class: Extended Part **Pins:** - D [pin 2] - G [pin 1] - S [pin 3] ### TRACK_DRIVER — [Pin Socket 01x06 2.54mm Vertical](https://www.flux.ai/adrian95/pin-socket-01x06-254mm-vertical.md) - Role Details: TRACK_DRIVER header - Part Type: Connector - Role: Connector - 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] - Pin_5 [pin 5] - Pin_6 [pin 6] *The full schematic, PCB layout, bill of materials, and interactive design are available at [https://www.flux.ai/walle5eva/disturbed-green-massive-robot-spider](https://www.flux.ai/walle5eva/disturbed-green-massive-robot-spider).* --- *Generated from [https://www.flux.ai/walle5eva/disturbed-green-massive-robot-spider](https://www.flux.ai/walle5eva/disturbed-green-massive-robot-spider)*