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High-performance, open-source micromouse robot platform built for Robosam and MEB Robot (Ministry of National Education Robotics Competition, Turkey).
AratMicro is a competition-focused maze-solving robot with a custom PCB, wall-detection sensors, dual-encoder drive, and STM32F411-based firmware. Hardware and software are developed together; all design files are shared in this repository.
This robot is designed to meet the maze-solving requirements of:
The mechanical dimensions, sensor layout, and control architecture are tuned for fast, reliable maze exploration and shortest-path solving under competition rules.
| Area | Detail |
|---|---|
| MCU | STM32F411CEU6 — Cortex-M4 @ 100 MHz, 512 KB Flash, 128 KB RAM |
| Motor driver | DRV8833 — dual-channel H-bridge |
| Wall sensors | 4× IR receivers + 4× IR LEDs (front left/right, left, right) |
| Maze solver | Flood fill (16×16 grid) |
| Position feedback | Left/right quadrature encoders (L_ENC_A/B, R_ENC_A/B) |
| I/O expansion | PCF8574AP — I2C GPIO expander |
| Power | 2S LiPo → AP63203WU buck (3.3 V logic), separate motor rail |
| Programming | ST-Link SWD (PA13/PA14), optional UART Bluetooth |
| Firmware | PlatformIO + Arduino framework, C++17 |
| Part | Size | Notes |
|---|---|---|
| Motor |
| 40 × 12 × 17 mm |
| 3 mm D-shaft |
| Wheel | 32 × 7 mm | 3 mm D-shaft |
Mechanical CAD files are not yet included. Dimensions were chosen to match the PCB and drivetrain layout.
AratMicro/
├── hardware/
│ └── pcb/ # KiCad 10 schematics and PCB (AratMicro.kicad_pro)
├── software/
│ ├── src/ # Firmware source code
│ ├── include/ # Public API headers
│ ├── lib/ # PlatformIO module libraries
│ ├── test/ # Host-side unit tests (Unity)
│ ├── docs/ # Architecture and hardware reference
│ └── platformio.ini
├── LICENSE
└── CONTRIBUTING.md
cd software
pio run -e aratmicro_f411
pio run -e aratmicro_f411 -t upload
Algorithms and core logic can be tested on the host:
cd software
pio test -e native
KiCad project: hardware/pcb/AratMicro.kicad_pro
Schematic sub-sheets:
| Sheet | File | Contents |
|---|---|---|
| Power Supply | power_supply.kicad_sch | 2S LiPo input, buck, protection |
| MCU | mcu.kicad_sch | STM32F411, clocks, SWD, I/O |
| Motor Controller | mc.kicad_sch | DRV8833 motor driver |
| Sensor Unit | su.kicad_sch | IR wall-detection circuit |
Full BOM and signal list: hardware/README.md
Firmware is organized in layers:
Details: software/docs/architecture.md
| Component | Status |
|---|---|
| PCB schematic | Active development |
| PCB layout | Active development |
| Firmware skeleton | Available |
| Motor driver code | Planned |
| Wall sensor code | Planned |
| Maze solver (flood fill) | Available (host-tested) |
| Mechanical CAD | Planned |
Contributions are welcome. Please read CONTRIBUTING.md.
This project is released under the MIT License — hardware and software may be used, modified, and shared freely.
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