This project involves designing a PCB that integrates various components to receive UART commands and control a motor driver. The main components include a USB hub, a USB-to-UART converter, a 5V power supply, an L298N motor driver, and an STM32 microcontroller. The board is designed for SLAM (Simultaneous Localization and Mapping) mapping.

1. USB Hub:

  - The PCB includes a USB hub with four ports.

  - One port is connected to a USB-to-UART converter.

  - The remaining three ports are exposed for external use and are intended for sensors such as depth and LiDAR. this ensures that the sensors don't use power from the raspberry pi and rather they get it from the board and data is sent to the raspberry pi through the usb-c

2. USB-to-UART Converter:

  - This converter is connected to the USB hub and is responsible for converting USB signals to UART signals.

  - It receives UART commands from an external source.

3. 5V Power Supply:

  - The PCB has a 5V power supply that powers the Raspberry Pi, L298N motor driver, and the sensors connected to the exposed USB ports.

  - Ensure proper voltage regulation and filtering to provide stable power to the components.

4. L298N Motor Driver:

  - The L298N motor driver is connected to the 5V power supply and is used to control the motors.

  - It receives control signals from the STM32 microcontroller.

5. STM32 Microcontroller:

  - The STM32 microcontroller is the main controller of the project.

  - It reads encoder values from the motors and compares them to the desired values received via UART.

  - Based on the comparison, it sends control signals to the L298N motor driver to adjust the motor speed and direction.