skylin008 / moteus

Brushless servo and quadrupedal robot

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

• Getting Started
• Reference

Misc

• travis-ci