This is a PCB I developed for my humanoid robot, it serves as the central PCB, and other little PCBs connect to it to add different features and support different control MCUs, readings, etc. The main features are the following:

• 23 servo motor connections, which include the PWM control, a pin to read a potentiometer and get the real position of the servo and also individual current measurement for each motor
• Accelerometer for measuring the position of the robot and make it balance itself
• Power control for each limb of the robot via MOSFETs
• Expandable I2C bus
• Full robot current measurement
• UART connection for camera modules such as ESP CAM.

The other PCB I developed for the project can be found on the repository: https://github.com/BenjamimKrug/robo_humanoide. And I'm also making videos explaining the whole development process on my youtube channel: https://www.youtube.com/playlist?list=PL1K-P4C8gY58HZTBrUWijMbuTu2VhGHiB

, although they are all in Brazilian portuguese.

For now there is no code for the full robot control, but this is already the second version of my robot, so until the end of the year I hope to have it ready.