/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 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

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

Directory structure

  • 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

Documentation

Misc

  • travis-ci Build Status