PCB Designs

The PCB was designed using the Allegro PCB designer. The board sizes were limited to the size of the raspberry pi and stacked together like hats over each other. It uses top and bottom layers with vias connecting the surfaces (Top layer in green, bottom in yellow). Most components are surface mounts but some are through holes, especially those requiring high power. Here are the PCB designs:

Driver PCB Board

IMU PCB Board

Power Board PCB Part 1

Power Board PCB Part 2