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Brushless servo and quadrupedal robot
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Josh Pieper 8ccd93559b Duplicate dynamometer tests using the simulation framework 
Add simulation-based tests that replicate the dynamometer test suite from
utils/dynamometer_drive.cc.

The simulation tests are split into a separate "slow_test" bazel target
with size "medium" to keep fast unit tests quick while still including
simulation coverage in the full test suite.
2026-01-29 15:35:03 -05:00
.github/workflows Allow mpat to be run as a command line tool 2026-01-10 13:27:51 -05:00
configs Improve robustness when operating with PSUs 2025-04-26 15:22:04 -04:00
docs Linkify this link 2026-01-17 12:26:10 -05:00
fw Duplicate dynamometer tests using the simulation framework 2026-01-29 15:35:03 -05:00
hw CAD files for moteus-x1 2025-04-30 11:31:04 -04:00
lib Add a python example showing ruckig use 2026-01-22 09:18:34 -05:00
qualification Update all copyrights to be mjbots 2023-09-25 15:06:06 -04:00
tools Bump python version 2026-01-17 12:10:17 -05:00
utils Get firmware_validate to run after just building //:host 2026-01-16 11:17:36 -05:00
.bazelrc Add automated hall regression tests 2025-07-21 14:36:36 -04:00
.eslintrc.js A HTML/JS performance analysis tool 2025-06-03 09:28:07 -04:00
.gitignore For now, ignore all CC things 2026-01-01 17:54:20 -05:00
BUILD Update all copyrights to be mjbots 2023-09-25 15:06:06 -04:00
CLAUDE.md Allow mpat to be run as a command line tool 2026-01-10 13:27:51 -05:00
CMakeLists.txt Initial support for importing C++ header files into cmake projects 2023-08-22 09:33:33 -04:00
LICENSE Create a top level apache 2.0 license 2019-03-08 20:15:00 -05:00
make_release.py Update all copyrights to be mjbots 2023-09-25 15:06:06 -04:00
mkdocs.yml documentation: Add section level indices 2026-01-17 11:42:18 -05:00
moteus-debug.gdb Update gdb script to allow restarting 2019-09-06 15:21:57 -04:00
README.md Update top level links to new documentation 2025-10-29 09:45:30 -04:00
requirements-docs.txt Major rework of the moteus documentation to use mkdocs 2025-10-29 09:24:51 -04:00
travis-ci.sh Don't run manual tests in CI 2026-01-16 16:39:36 -05:00
tsconfig.json Update indentation on tsconfig.json 2019-08-06 10:16:12 -04:00
WORKSPACE Upgrade to bazel 7.4.1 2025-01-04 18:02:20 -05:00

README.md

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 x1
Voltage Input 10-44V 10-51V 10-54V 10-54V
Peak Electrical Power 900W @ 30V 250W @ 28V 2kW @ 36V 1.3kW @ 36V
Mass 14.2g 8.9g 14.6g 23.8g
Control Rate 15-30kHz - - -
PWM Switching Rate 15-60kHz - - -
CPU STM32G4 - - -
Uncooled phase current 12A 5A 9A 25A
Cooled phase current 32A 14A 26A 62A
Peak phase current 100A 20A 100A 120A
Communications 5Mbps CAN-FD - - -
Dimensions 46x53mm 38x38x9mm 46x46x8mm 56x56x10mm

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
    • c1/ - PCB design for moteus-c1
    • n1/ - PCB design for moteus-n1
    • x1/ - PCB design for moteus-x1
  • fw/ - firmware for brushless controller
  • lib/ - client side software
  • utils/ - diagnostic tools
  • tools/ - bazel build configure
  • docs/ - documentation

Documentation

Misc

  • CI 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