| .github/workflows | ||
| configs | ||
| docs | ||
| fw | ||
| hw | ||
| lib | ||
| qualification | ||
| tools | ||
| utils | ||
| .bazelrc | ||
| .eslintrc.js | ||
| .gitignore | ||
| BUILD | ||
| CMakeLists.txt | ||
| LICENSE | ||
| make_release.py | ||
| mkdocs.yml | ||
| moteus-debug.gdb | ||
| README.md | ||
| requirements-docs.txt | ||
| travis-ci.sh | ||
| tsconfig.json | ||
| WORKSPACE | ||
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
How to support moteus development
The easiest way to support development the moteus hardware and firmware is as follows:
- Buy things from https://mjbots.com
- 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