AERY_ServoControlBoard

AERY Servo Control Board V2 is a custom 2-layer PCB developed for the Summon AERY Humanoid Robot, designed to control and power 16 servo motors using an ESP32 and an integrated PCA9685 PWM controller.

For this revision, I reverse-engineered the PCA9685 breakout circuit and integrated the required circuitry directly into the PCB, eliminating the need for an external PCA9685 module.

The board features:

ESP32-DEVKITC-32D as the main controller

Integrated PCA9685, 16-channel / 12-bit PWM

16 servo channels

12 × 5V servo outputs

4 × external 6–7V outputs for higher-voltage servos

Separate servo power domains

MOSFET-based reverse-voltage protection

Configurable I²C address

Wide power traces and organized power distribution

2-layer PCB designed in KiCad 10.0.5

The project was a practical exercise in PCB design, reverse engineering, power distribution, embedded systems, and hardware integration, taking the design from an external-module-based architecture to a more integrated custom control board.

Tools & Technologies: KiCad · ESP32 · PCA9685 · I²C · PWM · PCB Design · Embedded Systems · Robotics