The Spirit is engineered from the ground up as a single monolithic platform where the circuit board itself carries the structural load, the downforce unit, the motor mounts, and every electronic component in one rigid, competition-ready airframe. Two motor driver variants. One uncompromising philosophy.
Whether you're pushing coreless motors to the edge or running a precision N20 setup, the Spirit gives you the hardware foundation to go as fast as the track allows and then a little faster.
The Spirit is the bridge between a standard suction LFR and a purpose-built competition weapon. With its monolithic PCB-chassis, centrifugal impeller, and pre-soldered SMD peripherals, it removes every layer of mechanical complexity between you and maximum speed. Focus on code. Focus on tuning. The hardware is already done.
HARDWARE
◘ Embedded Systems
◘ Impeller Downforce Mechanics
◘ Sensor Integration
◘ Microcontroller
◘ PCB Designing
◘ SMD Peripherals
◘ Centrifugal Impeller
◘ Power Rail Architecture
SOFTWARE
◘ Bare metal C Programmings
◘ Control Theory & PID
◘ Algorithm Designing
◘ PWM Frequency Optimization
◘ Parameter Tuning
◘ Low level optimization
◘ Timer Architecture
Driver
Dual DRV8874
Motor Type
High-current coreless brushed DC
Driver Capacity
~4–4.5A continuous per channel
PWM Control
Direct register access (Timer conflict resolution required)
Motor Control Mode
PH/EN (Phase/Enable) — 1 direction pin + 1 PWM pin per motor
Braking
Coast on stop (coreless motors have low inertia, stops fast naturally)
Best For
Maximum performance, high-speed coreless setups, competitive events
"If you're running coreless drive motors and want the absolute ceiling of what this board can do, this is your build."
Driver
TB6612FNG (dual channel, single chip)
Motor Type
N20 brushed DC gear motors
Driver Capacity
~1.2A continuous per channel
PWM Control
Standard analogWrite() (no timer conflicts)
Motor Control Mode
IN/IN — 2 direction pins per motor + active BRAKE state
Braking
Active brake (both IN pins HIGH) — motor shorts its terminals for sharp stops
Best For
Lighter, cleaner N20 builds; simpler code path; active braking at speed
"If you're on N20s and want the lightest possible Spirit with the most straightforward firmware, this is your build."
ROBOT CONTROL BOARD
ARC8 8 ARRAY SENSOR
ACCESSORIES
PACKED KIT
Good things come in small packages, and inside of
this you will find everything you need to get your
line follower up and running. Both hardware and
software included.
IMPELLER SETUP
UNIDIRECTIONAL SPEED CONTROLLER
3D PRINTED SUCTION CHASSIS
COMPACT Li-Po BATTERY
TB6612FNG MOTOR DRIVER
2000 RPM N20 MOTORS x2
HIGH TRACTION WHEELS x2
CABLES, SCREWS & FASTENERS
COMPREHENSIVE GUIDE
◘ The Spirit PCB is a monolithic, integrated PCB-cum-chassis designed to function simultaneously as the structural frame and the electronic motherboard of a high-speed suction line follower robot.
◘ The PCB supports an Arduino Nano (ATmega328P, 16 MHz, 5V logic) and ships in two motor driver configurations: DRV8874 (Model 1, for high-current coreless brushed DC motors) and TB6612FNG (Model 2, for standard N20 gear motors). All supporting SMD components - buttons, LEDs, reverse-polarity protection diodes, and filter capacitors - come pre-soldered.
◘ An active downforce system consisting of an 8520 coreless brushed DC impeller motor, a 30mm radial impeller, a unidirectional MOSFET-based speed controller (USC), and a custom vacuum skirt generates 700g+ of active downforce. The impeller is driven at 62.5 kHz PWM via direct Timer2 register access, eliminating audible coil whine and reducing thermal stress.
◘ The PCB outline is engineered for aerodynamic balance: the impeller sits at the geometric center for even weight distribution, motor mounts attach directly to the board, and the airframe shape minimizes unnecessary mass while maintaining structural rigidity.
SOFTWARE AND PROCESSING
◘ Model 1 (DRV8874 / Coreless): Motor A PWM and the impeller both share Timer2 (D3 = OC2B, D11 = OC2A). This timer conflict requires direct register-level control throughout. Timer2 is configured in Fast PWM 8-bit mode with no prescaler (62.5 kHz) at setup. OCR2A controls impeller duty cycle; OCR2B controls Motor A. Timer1 drives Motor B at the same frequency via OC1A (D9). Port manipulation replaces all digitalWrite() and analogWrite() calls for maximum loop speed.
◘ Model 2 (TB6612FNG / N20): All three PWM channels use separate timers (Motor A → Timer0/D5, Motor B → Timer1/D10, Impeller → Timer2/D11). No timer conflicts exist. Motor control uses standard analogWrite() with active-brake logic (both IN pins HIGH at speed = 0). The impeller still uses manual Timer2 setup at 62.5 kHz for silent, efficient operation - identical rationale as Model 1.
◘ Both models implement a shared firmware pattern: button-triggered calibration rotates the robot while recording min/max sensor values; run mode executes a PD control loop computing positional error from weighted sensor inputs, applying correction to both motor channels, and recovering on line-lost using the last known error direction.
COLOR, MATTE
AND FINISH
Available in four color options, the robot features a precision 3D-printed matte chassis paired with high-traction rubber wheels and cleanly integrated components, delivering a cohesive, durable, and competition-ready finish.
*All the media present are for visual representation purposes only, actual product may vary.
Specifications.
Reviews (0)
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What is the Spirit PCB?
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