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Prototype is controlling a BLDC motor

A project log for ESP-32 BLDC Robot Actuator Controller

ESP-32 WROOM-32D has Three phase Centre Aligned MC-PWM, Dual SPI, I2C, 2MHz ADC, UART and CAN. Enough for a controller.

paul-gouldPaul Gould 07/29/2020 at 16:180 Comments

Boards can in from JLC PCB, components can in from LCSC and Mouser.

Hand populated the first one, testing as I went. I have a stencil for the next few.

A few little mistakes. 

Programs via Arduino IDE using USB-TTL-3V3

I can control a motor and a joint's position via bluetooth and display into on the I2C OLED (FET Temp, Battery Voltage, Joint Position, Motor current).

Has two absolute magnetic encoders, for for motor position and one for joint position

I do not recommend Bluetooth/wifi for joint control.

CAN is also up and running.

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