The v2 redesign is here!

We simplified a lot of things and integrated it more tightly on one board.

New features include:

• Input shift registers
• Single chip H-bridge motor drivers
• New switching voltage regulators
• Motor current sensors
• Redesigned encoder mount

Nothing ever goes as planned

After assembling the robot, we discovered that there are still many errors in the design.

Due to migrating the PCB from EasyEDA to KiCAD, some of the footprints were incorrect, but the parts still fit.

We made a big mistake in the current sensor design: not only is the shunt amplifier gain way too high, but also we didn't filter it whatsoever, so we're left with a modulated signal which cannot be measured by the ESP32.

Soldering the tiny QFN shift registers was also quite hard, but after a few reflow attempts it worked out

Also: don't hot-air solder these connectors!