Ardunio M0/Zero/SAMD21 running Actuator Operating System paired with Brushless FET Driver, MOSFETs, Absolute Magnetic Encoder, EEPROM, dual voltage regulators, temperature, USB and RS485. 30V @ 30A ~$US50
Uses
- Brushless Motor Robotic Joints (with SEA)
- Brushless Motor CNC axis controllers (closed loop)
- Electric Skateboards motors
50mm square and 58mm round
Ardunio Actuator Operating System
- Standard Ardunio Boot code (Reset x2 to enable)
- Foreground 10kHz motor control task update rate
- Sinusoidal or Field Oriented Controller (FOC)
- SPI with DMA operation for on board Absolute Magnetic Encoder (motor position)
- DMA is slower, may just use registers
- Optional Hall effect (motor position)
- SPI with DMA operation for external Absolute Magnetic Encoder (1 or 2 daisy chain)
- 3/6 phase centre aligned PWM motor control (registers/no libraries)
- 6/7x ADC free running Sequential operation with DMA(no delay)
- 3 Phase Motor Current Measurement
- Mosfet Temperature
- Battery Voltage
- Motor Temp
- potentiometer joint position
- PID joint controller
- low level interrupt foreground tasks
- RS485/USB/UART communications
- RS485 UART with IRQ packet receive and transmit
- optional Step/Direction
- RS485/USB/UART communications
- Background Tasks
- OLED I2C (standard Arduino Libraries)
- Mosfet Driver configuration
- EEPROM (standard Arduino Libraries)
- User Functions
2- 8 Cell LiPo (6-34V)
Center positioned Absolute Magnetic Encoder AS5047/AS5147/AS5048 or MA730/MA702 with Alignment holes
3V3 Switching regulator from either LiPo or USB (Diode switch over)
6x 2mOhms 40V N-channel MOSFETS (BSC022N04LSATMA1) Power SO-8mm
3x 3mOhms Sense Resistors
3 Current Shunt Amplifiers in DRV8305N
MOSFET Temperature sensor
External connections for
- USB programming, configuration and control
- Connectors for RS485 for daisy chain operation
- Header for UART
- Connector for external Temp Sensor
- Qwiic I2C (OLED display)
- Connector for External Absolute Magnetic Encoders (SPI) in Single or daisy chain configuration or Hall effect sensors or potentiometer
- Only one spare Digital IO for Servo, Fan or Limit Switch
Population Options
- External 24MHz Oscillator (maybe removed in next revision)
- Extra Power supply Caps
- Remove RS485 and use as second TTL UART (maybe removed in next revision)
- MOSFET Heatsink and fan
Hi Paul, I've been following this project a few months ago. I love the design and possibilities. For the first time in a while I may have enough free time to try it. Unfortunately I don't have a lot of time to order stuff before I leave for a remote place where I'll have internet, but limited delivery roads. In a perfect world you'd point me to an up to date order list/bon to build 4 of these. The project evolved, mistakes were fixed, I have a hard time finding an up to date order list. I have around 14 days. Probably too short. Can you help? I have an interesting skillset, software (low, high level), electronics, maths, AI, simulation. Would love to contribute.