This is a very fist test of an home-made 5-bar leg.
Power supply : 24V @ 2A limitation
Motors : 2x MAD 5008 240KV
Encoder : 2x AS5048A (14bit absolute position, PWM output)
ESC : B-G431B-ESC1 discovery kit by ST
3d printed planetary gear box (1:4.25). Gear Module 1 (ABS and PLA)
3d printed legs (PETG)
28 ball bearings
Home-made FOC algorithm with position / velocity / torque control running at 10KHz (36us processing time, using STM32G4 CORDIC)
Velocity limited to 20000dps
Motor current limited to 500mA (max Iq).