PCB schematics for a robot that can participate at the Robocup Competition and solve a Maze

PCB consists of:

• Raspi compute module(master) for image processing
• esp32 for sensor control
• esp32 for display
• esp32 for motor control
• esp32 for battery life/statistics
• 8 ir sensor for measuring distance
• 1 color sensor for measuring colors on the floor
• 1 gyro sensor for measuring degrees
• 2 cameras for identifying victims on the wall
• 4 12V pololu motors
• 1 display for map information
• 5 leds for showing microcontroller state
• 5 reset buttons
• 1 power button for each battery
• 1 start button
• 1 12V battery for motors
• 1

raspi communicates over UART with the esps (polling for gathering esp state, writing for commands)

• getDistances(), getDistance(IRSensor), getColorValue(), getDegree(axis)
• driveForward(ms), turnLeft(ms), turnRight(ms), driveBackward(ms)
• updateDisplay()
• getBatterState(battery), getVoltage(battery)
• getEspState(esp)
• updateEsp(esp) the user communicates only with the raspi over wifi