nautilus is a direct fork of moteus's driver with modified shape and interface to fit inside MyActuator's RMDX motors
(Mini-Cheatah like design), as a replacement of their driver. The main modifications are:
- use an SPI interface instead of CAN
- secondary SPI port for external encoder
- usage of the
CSD88599half-bridges instead of individual MOSFET to reduce the number of components - modified board shape and layout to fit inside the motor
- the design is done using KiCad instead of Eagle
All new files are in the nautilus folder.
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
- 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
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
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
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