I continue to make progress on the improved actuators for SMMB. To briefly recap, these are based on a home-built brushless servo consisting of off the shelf gears, bearings, 3d printed assemblies, and a custom control board.
Moving on from closed loop vector (FOC) control, I’ve now built up a second motor, set both of them communicating over the same RS485 bus, and wired up a minimal makeshift jumping fixture. The leg didn’t jump as well as I had expected: I was only able to achieve about 300ms of air time and there are a lot of other minor problems/deficiencies as well. But on the other hand, I don’t appear to have permanently broken anything yet, so improvement will hopefully be mostly continuous!