First closed loop vector control

I’ve reached a minor milestone in developing improved actuators for Super Mega Microbot.  Previously I demonstrated basic closed loop control using a VESC.  Now I have a custom control board running closed loop vector-based current and position control on a single brushless servo!  I’ll hopefully write up pieces in more depth later, but this post can serve as a proof of existence.

First, boards as received from MacroFab:

Mounted onto the planetary gearbox:

dsc_1164

And finally, a brief video of operation, with tview (from the mjmech gimbal) alongside.

Amazingly, I’ve needed no blue wires or rework of any kind so far.  Next up is to get it communicating over the RS485 link instead of serial, build a second gearbox, and get it jumping!

2 thoughts on “First closed loop vector control

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