/moteus

Brushless servo and quadrupedal robot

Primary LanguageC++Apache License 2.0Apache-2.0

moteus brushless servo

This contains full designs for the moteus brushless servo actuator, including firmware and PCBs.

WARNING: This is not just a software project. It includes designs for moderately high power electronics. It has not yet burned down my (or anyone's that I know of) house, but there are no guarantees.

Specifications

Name r4.11 c1 n1
Voltage Input 10-44V 10-51V 10-54V
Peak Electrical Power 500W 100W 1200W
Mass 14.2g 8.9g 14.6g
Control Rate 15-30kHz - -
PWM Switching Rate 15-60kHz - -
CPU 170Mhz STM32G4 - -
Peak phase current 100A 20A 100A
Communications 5Mbps CAN-FD - -
Dimensions 46x53mm 38x38x9mm 46x46x8mm

Assembled and tested boards can be purchased at: https://mjbots.com

Directory structure

  • hw/ - hardware (mechanical and electrical designs)
    • controller/ - PCB design for moteus-r4.11
    • n1/ - PCB design for moteus-n1
  • fw/ - firmware for brushless controller
  • lib/ - client side software
  • utils/ - diagnostic tools
  • tools/ - bazel build configure
  • docs/ - documentation

Documentation

Misc

  • travis-ci Build Status

How to support moteus development

The easiest way to support development the moteus hardware and firmware is as follows:

  1. Buy things from https://mjbots.com
  2. Build awesome machines!

That's it! If for some reason you want to go above and beyond, you can sponsor mjbots through github: https://github.com/sponsors/mjbots

License

All files contained in this repository, unless otherwise noted, are available under an Apache 2.0 License: https://www.apache.org/licenses/LICENSE-2.0

Trademark

mjbots Robotic Systems LLC owns and protects the "mjbots" and "moteus" trademarks in many jurisdictions.

If you want to use these names in your project or product, please read the Trademark Policy