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.
| Name | Value |
|---|---|
| Voltage Input | 10-44V |
| Peak Electrical Power | 500W |
| Mass | 14.2g |
| Control Rate | 15-40kHz |
| PWM Switching Rate | 15-60kHz |
| CPU | 170Mhz STM32G4 |
| Peak phase current | 100A |
| Communications | 5Mbps CAN-FD |
| Dimensions | 46x53mm |
Assembled and tested boards can be purchased at https://mjbots.com/products/moteus-r4-11
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
- hw/ - hardware (mechanical and electrical designs)
- controller/ - PCB design for servo controller
- fw/ - firmware for brushless controller
- lib/ - client side software
- utils/ - diagnostic tools
- tools/ - bazel build configure
- docs/ - documentation
- travis-ci
