Driver Board for ESP32-DOIT-DevKit-V1, Brushed DC Motors and LiDAR

This is an all-in-one board for building DIY robots capable of mapping the environment and self-driving using the map. Think of this PCB as a miniature robot “motherboard” connecting with (sold separately):

• A 2D laser distance (LiDAR) scanning sensor
• Two brushless encoder motors (12V or 24V)
• An ESP32 DOIT DevKit v1 30-pin compatible board with WiFi communication
• A battery

The board is optimized for easy, quick, low-cost robot builds and comes with

• Free, open-source Arduino-based firmware and PC software based on ROS2/Nav2, micro-ROS and Kaia.ai
• Step-by-step usage instruction videos
• An open-source 3D robot body

Recommended Usage:

Build a LiDAR-enabled Arduino/ROS2 robot (parts sold separately):

• Insert a 30-pin ESP32 DOIT DevKit v1 compatible module
• Connect two 12V N20 encoder motors
• Connect a 2D 360-degree LiDAR
• Connect a 9V battery
• Assemble the robot base, wheels and motor clamps
• Upload Arduino-compatible firmware; set up PC software
• Drive the robot around manually or automatically to create a map of your place, see instructions
• Have the robot self-drive around your place using the map, see instructions

Connecting a LiDAR is optional, but highly recommended in order to use mapping and navigation.

The board contains:

• An integrated motor power supply (12V default, configurable to 24V)
• Two integrated motor drivers for brushed DC motors (low-cost N20 motors recommended)
• Two dual-channel quad encoder interfaces
• A socket for ESP32 DOIT DevKit v1 development board (insert your ESP32 dev kit)
• Additional breakout headers for the ESP32 module (in case you want to add your own custom peripherals)
• A 2D LiDAR interface (with firmware support for more than a dozen popular LiDAR models)
  • TX, RX, PWM and LiDAR enable,
  • Includes a LiDAR motor PWM FET (for LiDAR models that lack a built-in motor control)
• A 5V regulated power supply for the 2D LiDAR and ESP32
• A circuit enabling ESP32 ADC to monitor the battery voltage
• Terminals for a power supply battery
• A power supply switch

Technical Details:

• Board input voltage range: Vbatt 6V to 21V
  • Vbatt 6V to 10V for Vmot=12V motor voltage
  • Vbatt 6V to 21V for Vmot=24V motor voltage
• Max total motors current 3A
• Max total motors battery draw 2A
• Individual motor current limit 2.2A
• 5V supply max output current 3.5A
• Max total battery draw 3A
• Do not apply reverse power supply voltage, this can damage the board

Board configuration reference

• JP1 solder jumper selects the motor encoders power supply voltage
  • Default: 5V
  • Alternative: 3.3V
• JP2 solder jumper selects the on-board regulated motor power supply voltage, Vmot
  • Default (closed): Vmot=12V
  • Alternative (open): Vmot=24V
• JP3 solder jumper selects the motors power supply source
  • default: use the on-board regulated power supply
  • alternative: use an external power supply Vext
• JP4 solder jumper selects the 5V power source for LiDAR, ESP32

Revision history

• v1.1.3 identical to v1.1.1 except
  • J10 LiDAR header pins 2, 4, 6, 8 changed to accommodate an additional +5V.
• v1.1.1 initial release

Size 53.2mm by 56.4mm by approx.14.5mm. Weight approx. 31g. ESP32 module header spacing 25.4mm.

Documentation

• Complete step-by-step usage example instructions
• Download schematic.
• Download 3D STEP model.
• Download config.yaml configuration file for Kaia.ai firmware.

• How to Connect YDLIDAR X3, X3PRO, X2 and X2L to Maker’s Pet ESP32 Boards
• How to Connect Delta-2G LiDAR to Maker’s Pet ESP32 Boards

Software and Firmware

• View the instructional videos
• Download the Arduino-based firmware here
• Follow the PC software installation instructions
• Read usage instructions here

Technical Support

• Visit our support forum. Both hardware and software questions are welcome.
• View instruction videos on our YouTube channel
• Join our Facebook robotics groups here, here and here (software)
• Join our Reddit forums r/ArduinoAndRobotics and r/MakersPet

Warnings

• Maker’s Pet boards are designed to be used with non-rechargeable alkaline batteries. It is possible to power the boards using rechargeable batteries if you follow proper safety precautions.
  • Rechargeable batteries can be dangerous if mishandled.
  • Use PROTECTED rechargeable batteries only – with protection from short circuit, 5A peak overcurrent, over-discharge, over-charge, over-heating, and physical damage (e.g. 18650 in steel cans).
  • You will need to charge batteries using your own adapter appropriate for your own batteries.
  • Your use of rechargeable batteries is AT YOUR OWN RISK.