First up was installing magnets on all the motors:
Next up is mounting the motors into the brackets:
Then I soldered the phase wires onto each of the motors, including shortening the BE8108 wires:
After that was thermal pasting and bolting the controllers to the brackets. The BE8108’s I got for this run were slightly different, and required more spacing of the sensing magnet. Thus I ended up using two heatsink plates back to back. At this point I powered, flashed, and calibrated each of the motors.
Next up, the remainder of the leg hardware!