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Tobor（tobor_v00） 开源机器人项目核心是一块高度集成的机器人控制主板。Tobor 是 “Robot” 的反向拼写，定位为通用型开源机器人系统。
主板核心配置
模块 | 关键参数与功能 |
|---|---|
主控 | ESP32 微控制器，搭配 4MB SPIRAM，运行 MicroPython，支持快速开发与脚本控制 |
电机驱动 | 3 颗 DRV8825 步进电机驱动，支持 3 轴运动控制 |
位置反馈 | 2 颗 AS5048B 14 位绝对值编码器，支持无回零运动（无需回原点） |
状态指示 | 8 颗可寻址 LED 环，可显示电机 / 设备状态 |
控制接口 | 支持 FluidNC 控制器，带专用 FTDI 接口与复位开关，兼容 CNC 控制逻辑 |
扩展能力 | 外部步进驱动器 / 外设端口、CANbus 边缘板接口、WiFi 使能、伺服头接口 |
电源与操作 | 24VDC 供电输入，带用户可编程按键、复位按键、心跳 LED、功能按键与状态 LED |
项目亮点与用途
高度集成：单块 PCB 集成了主控、驱动、编码器接口、电源管理与扩展接口，大幅降低机器人搭建门槛。
软件友好：支持 MicroPython 与 FluidNC，兼顾快速原型开发与工业级运动控制需求。
模块化扩展：预留了边缘板接口，支持后续扩展相机、SMT 送料器等外设，适配自动化、机械臂、CNC 等多种场景。
License
CERN-OHL-P-2.0 license
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