Welcome to MicroROS Robot Expansion Board repository

Brief introduction of microROS control board

The MicroROS control board is a ROS2 driver controller and an ESP32S3 dual-core development board. On board ESP32S3 core module control unit, motor driver, servo driver, six-axis IMU attitude sensor and other important peripherals. It supports WiFi, Bluetooth, serial port and other communication functions, and supports 4-channel encoder motors, 2-channel PWM servos, 1-channel lidar and 1-channel ESP32 WiFi camera module, Type-C power interface supports Raspberry Pi 5(5.1V/5A) PD power supply protocol. And it comes with peripheral driver firmware, users can directly access the ROS2 environment for use.

Description of onboard resources

Battery power interface: connect 7.4V battery (T-type interface) to power the robot.

Battery charging interface: Connect DC8.4V charger to charge the robot.

Power switch: robot power main switch.

Reset button: The reset button of the ESP32S3 control chip.

Lidar interface: Connect the MS200 lidar.

Type-C serial port: used for burning firmware, configuration parameters, serial communication and other functions.

BOOT button: The BOOT button of the ESP32S3 control chip can also be used with custom keys.

Custom button: ESP32S3 control chip GPIO, programmable custom function.

Motor interface: Connect 310 encoder motor.

Antenna interface: Connect the external antenna.

ESP32S3 control chip: The main control chip of the microROS control board is responsible for managing all peripheral functions on the board.

Six-axis IMU chip: provides the current pose information of the robot.

Custom GPIO *2: UART port, can be used connect WiFi camera module.

PWM servo interface: used to connect two PWM servo.

Type-C Power supply interface: Connect the Type-C interface of the Raspberry PI 5 to power the Raspberry PI 5.

Buzzer: Active buzzer for low voltage alarm prompt.

Power indicator: red constant light means normal.

MCU indicator light: under normal circumstances, it will always flash in a cycle (the frequency is two flashes every three seconds); Flash at low voltage (every 100 ms); In configuration mode, it flashes slowly (once per second). In test mode, it will blink continuously (three flashes every three seconds).

D1 and D2: Custom indicators.

GPIO Pin Assignment