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General Driver for Robots User Guide

Open-source Demo

Circuit Diagram

Dimensions And Drawings

Model

Introduction

The multifunctional driver board specially designed for robots provides more possibilities for robots. Based on the ESP32-WROOM-32 module, Arduino IDE can be used for development, and it supports a variety of wireless communication methods, including WIFI, Bluetooth, and ESP-NOW.

Onboard versatile commonly used robot component interfaces, including DC motor interface with encoder, DC motor interface without encoder, bus servo interface, IIC interface, Lidar interface, PWM servo interface, SD card slot, etc.

A variety of resources are on board, which is convenient for robot project construction, including a 9-axis IMU, temperature sensor, automatic download circuit, Lidar serial port to USB circuit, bus servo control circuit, etc.

Features

  • Based on the ESP32-WROOM-32 module, supports wireless communication methods such as WIFI, Bluetooth, and ESP-NOW.
  • Onboard motor control interface for 2x DC motors with encoder or 4x DC motors (two groups) without encoder.
  • Onboard serial bus servos control interface for controlling up to 253 ST3215 serial bus servos and obtaining servo feedback.
  • Onboard 9-axis IMU can obtain attitude and heading information at any time.
  • 7~13V voltage input can be powered directly by 2S or 3S lithium battery.
  • Automatic download circuit for easy uploading demos.
  • Support input voltage and current monitoring.
  • Onboard TF card slot.
  • Onboard Lidar interface and integrated UART to USB function.
  • IIC interface for expanding other peripherals such as OLED, IMU, and other IIC communication protocols.
  • Multi-functional extended interface, adapting to remaining interfaces for additional functions, such as controlling servos or relays.
  • 40PIN extended header for connecting to Raspberry Pi, Jetson Nano, and other host computers, communicating via serial port or IIC, and powering the host computer.
  • Provides open-source demos for onboard resources, and detailed tutorials for beginners to get started.

Parameters

Main ControllerESP32-WROOM-32
Power SupplyDC 7-13V
Power PortXH2.54
Antenna ConnectorIPEX1
Download InterfaceType-C
Control ChipESP32
Wireless CommunicationWIFI, Bluetooth, ESP-NOW
Dimensions65 x 65mm
Mounting hole spacing49 x 58mm
Mounting hole diameter3mm

Onboard Resources


No.Onboard ResourcesIntroduction
1ESP32-WROOM-32 main controllerCan be developed with the Arduino IDE
2IPEX1 WiFi connectorFor connecting the WIFI antenna to increase the wireless communication distance
3LIDAR interfaceIntegrated radar adapter board function
4IIC peripheral expansion interfaceCan be used to connect OLED screens or other IIC sensors
5Reset buttonPress and release to reboot the ESP32
6Download buttonThe ESP32 will enter the download mode when the power is turned on by pressing
7DC-DC 5V voltage regulator circuitPower supply for host computers such as Raspberry Pi or Jetson nano
8Type-C connector (LIDAR)LIDAR data interface
9Type-C connector (USB)ESP32 UART communication interface, can upload programs for ESP32
10XH2.54 power portInput DC 7~13V, this interface directly powers the serial bus servo and motor
11INA219Voltage/current monitoring chip
12SwitchesSwitches to control external power supply
13ST3215 serial bus servo interfaceFor connecting to ST3215 serial bus servo
14Motor interface PH2.0 6PGroup B interface for motor with encoder
15Motor interface PH2.0 6PGroup A interface for motor with encoder
16Motor interface PH2.0 2PGroup A interface for motor without encoder
17Motor interface PH2.0 2PGroup B interface for motor without encoder
18AK09918C3-axis electronic compass
19QMI8658C6-axis motion sensor
20TB6612FNGMotor control chip
21Serial bus servo control circuitCan be used to expand multiple ST3215 serial bus servos and obtain servo feedback
22SD card slotCan be used to store logs or WIFI configurations
2340PIN extended headerEasy access to Raspberry Pi or Horizon Sunrise X3 Pi
2440PIN extended headerEasy to use the pins of the host computer installed on the driver board
25CP2102UART to USB for radar data transfer
26CP2102UART to USB for ESP32 UART communication
27Automatic download circuitUpload demos for the ESP32 without pressing the EN and BOOT buttons

Main Usage

Onboard Rich Peripheral Interfaces For Driving Various Robots

  • Crawler Robot
  • Four-wheel drive UGV
  • Two-wheel drive AGV
  • Balance car
  • Robotic arm
  • Pan-tilt

Module Usage Tutorial

The above tutorial takes the complete demo of the UGV01 product as an example to explain how to use the Arduino IDE to upload the demo. You can replace the demo with the demo in the follow-up tutorial to the driver board.