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STD simplefoc - small tank

Profile:Introduction: The car adopts esp32 main control, runs the motor control program based on simplefoc, and drives two brushless motors to directly drive the crawler; the power supply uses two board-mounted 18650 in series, and uses a USB boost charging belt to balance.

License: Public Domain

Creation time: 2023-08-24 17:53:51
Update time: 2023-08-28 19:55:36


project from OSHWHub user zxp1107

Project source: cloned from simplefoc0708


Hardware: ESP32 main control, L6234 driver chip, MPU6050, AS5600 encoder, 2804 gimbal motor, 18650 battery*2
Software: motor driver based on simplefoc (verified), Bluetooth remote control based on Blinker (verified), mpu6050 standing balance function (not verified), SBUS protocol remote control (not verified)
Mechanical part: main body 3D printing, track TPE material 3D printing, rear wheel direct drive, front wheel with bearing
Production process: 1.PCB board
2. Purchase the original on the PCB
3. Shell track printing
4. Purchase of motor bearings, etc.
5. Circuit board welding, overall assembly
6. Arduino installation, simplefoc library installation, blinker library installation, esp32 support installation, open the code and compile and download
7. Download blinker on the mobile phone to create a new device and import the blinker code
8. Power on and connect to Bluetooth (End)
It can be played now, and the power and speed are quite good, but Blinker itself does not feel very good as an IoT remote control, and I have limited ability and have not connected to other remote control software. When the Bluetooth remote control is easy to break the link, you can consider connecting an external antenna. The D5 gets very hot when charging, so it can be replaced or not. The power supply ground wire of the motor may be too thin, you can consider re-wiring, or not. The voltage detection program is not written to prevent over-discharge.
A steering gear interface, an IIC oled interface, and an SBUS receiver interface are reserved.
Hope someone can give more gameplay
Total cost about 100
Design Drawing
schematic diagram
1 /
1 /
ID Name Designator Footprint Quantity Paste Type
1 1u C1,C6 C0603 2 C_0603_US
2 10n C2,C5 C0603 2 C_0603_US
3 220n C3,C4 C0603 2 C_0603_US
4 100nF C7,C19,C20,C21,C22 C0603 5 CL10B104KB8NNNC
5 100nF C8,C11,C12,C13,C16,C25,C15,C24 C0603 8 CC0603KRX7R9BB104
6 2.2uF C17 C0603 1 CC0603KRX7R9BB104
7 BAT54S D1,D3 SOT-23-3_L2.9-W1.3-P1.90-LS2.4-BR 2 BAT54S
8 HDR-F-2.54_1x4 H1 HDR-F-2.54_1X4 1 HDR-F-2.54_1x4
9 MPU6050 H2,H3 HDR-F-2.54_1X8 2 HDR-F-2.54_1x8
10 排针2.54mm间距8P 8P-2.54 SIP 8P 2.54 J1,J2,J3,J4 SIP-2.54MM-8P-CJT-H8.54 4 排针2.54mm间距8P 8P-2.54 SIP 8P 2.54
11 HDR-M-2.54_1x3 J5,J6 HDR-M-2.54_1X3 2 HDR-M-2.54_1x3
12 LED-0603_R LED1,LED3,LED4,LED2,LED6 LED0603_RED 5 LED-0603_R
13 S8050_C908252 Q1,Q2,Q3 SOT-23-3_L2.9-W1.3-P1.90-LS2.4-BR 3 S8050_C908252
14 4.7k R1,R2 R0603 2 R_0603_EU
15 1K R3,R4,R11,R14,R26 R0603 5 ARG03DTD9101
16 10K R5,R8,R9,R10 R0603 4 RC0603FR-0710KL
17 5.1K R6,R28 R0603 2 0603WAF1002T5E
18 4.7K R12 R0603 1 ARG03DTD9101
19 10K R13,R15,R16,R22 R0603 4 0603WAF1002T5E
20 100 R17,R19 R0603 2 0603WAF1002T5E
21 0 R18 R0603 1 0603WAF1002T5E
22 10K R20,R21 R0603 2 ARG03DTD9101
23 1K R23 R0603 1 0603WAF1002T5E
24 K2-1817UQ-C4SW-01 SW1,SW9 KEY-SMD_2P-L6.0-W6.0-P6.00 2 K2-1817UQ-C4SW-01
25 L6234PD013TR U1,U11 POWERSO20_L15.9-W11.0-P1.27-LS14.2-BL-EP 2 L6234PD013TR
26 AS5600-ASOT U2,U7 SOIC-8_L5.0-W4.0-P1.27-LS6.0-BL 2 AS5600-ASOT
27 CH340C U4 SOP-16_L10.0-W3.9-P1.27-LS6.0-BL 1 CH340C
30 47uF C9,C10,C14,C23 CAP-SMD_BD6.3-L6.6-W6.6-FD 4 RVT1H470M0607_C3349
31 10uF C18,C29,C33 C0603 3 CC0603KRX7R9BB104
32 1uF C34,C36 C0603 2 CC0603KRX7R9BB104
33 22uF C35 C0805 1 CL21A226MAQNNNE
34 SS34-A D5 SMA_L4.3-W2.6-LS5.2-RD 1 SS34-A
35 2.2uH L4 IND-SMD_L5.5-W5.2 1 CMLO0520H2R2MTT
36 2K R7 R0603 1 ARG03DTD9101
37 6.8K R27 R0603 1 ARG03DTD9101
38 20 R30 R1210 1 RC1210FR-0720RL
39 TCTR0402F100KF4310T R31 R0402 1 TCTR0402F100KF4310T
40 82K R32 R0603 1 ARG03DTD9101
41 SK-12D07-VG3 SW2,SW13 SW-TH_SK-12D07-VG3 2 SK-12D07-VG3
42 LD1117-3.3 U3 SOT-223_L6.7-W3.5-P2.30-BR 1 LD1117-3.3
43 CJ78M05_C9070 U5 TO-252-3_L6.5-W5.8-P4.58-TL 1 CJ78M05_C9070
44 CS5086E U6 ESOP10-EP 1 CS5086E
45 rz7899 U8 SOP-8_L4.9-W3.9-P1.27-LS6.0-BL 1 rz7899
46 18650 BAT1 BATTERY_18650*2-HOLDER 1 18650 1


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