1.Project Introduction

    此项目基于NodeMCU-32S开发板设计其拓展板，PCA9685PW管理16路舵机驱动，两片TB6612FNG芯片管理四路直流电机的驱动，引出MPU6050六轴加速度传感器接口。
    同时此版本设计中考虑到电机驱动的电流问题，采用了芯片供电电路与电机供电电路分开的设计，即需要双电源。电机的供电电池暂时选择6.4V的磷酸铁锂动力电池组。

*[Since the pin resources of NodeMCU-32S are fully utilized, it is designed in the form of an expansion board].

2. Component selection

1. Main control development board: NodeMCU-32S
2. Servo steering gear drive management: PCA9685PW - I2C communication + 16-channel PWM management;
3. DC motor driver: TB6612FNG - single-chip drive for two DC motors;
4. Linear voltage regulator chip: HT7333 - low voltage dropout regulated 3.7V lithium battery;
5. Six-axis acceleration sensor: MPU6050 module.

3. Function overview

• 16-channel servo drive [MG90s, MG996R and other common servos on the market];
• 4-way DC motor drive;
• MPU6050 six-axis acceleration sensor interface;
• The chip power supply and motor power supply circuit are isolated; [that is, two power supplies are required].
  (We will optimize it later and plan to use DCDC...)

4. Physical prototype