I took a lot more footage than ended up in the annual update video. Here’s a short with footage from Killian Court on the Charles River:
When I first posted the moteus controller up for sale, the specifications I listed were based on the design characteristics and the testing I had conducted up until that point. Specifically, the peak phase current was just the maximum that I had verified was safe to operate with.
In the interim, I’ve done a fair amount more testing and have concluded that the controller can safely drive higher phase currents than initially posted. For now, I’m increasing the peak phase current to 100A both on the specification sheet and in the default firmware configuration of all newly shipped boards. If you already have a moteus controller and want to take advantage of the higher phase current, chat us up on the mjbots discord and we’ll show you how.
I first wrote about the very very simple web UI for the quad A1 some time ago. That UI served its purpose, although it was largely inscrutable to anyone but myself, as the primary data display was a giant wall of unformatted JSON which filled most of the page. It was also pretty easy to accidentally pick the wrong mode, cause the robot to jump instead of walk, or cut power to everything.
Clearly I’m not going to win any design awards… but since all the styling is done with CSS, it should be not too hard to make something that looks arbitrarily nice without a whole lot of effort. As a bonus, I also added some minimal keyboard bindings for movement, so the joystick isn’t required if you don’t care about precise or aggressive maneuvers.