This motor controller was designed circular shape for modular actuators. The firmware is based on VESC(https://vesc-project.com/). The AS5047 magnetic encoder is located on the center of back side of PCB. The STM32F405 Microprocessor was used and as a gate driver, the DRV8323R was used which is equipped internal buck converter and current sensing amplifier chip.The MJ-VESC provide 'DPS (Degree Per Second)' control which is advanced position control loop compared to original VESC. This allows VESCs to be used in position control robots that require high positional accuracy.