RoboMotor

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RoboMotor is an open-source FOC motor driver project. It provides integrated hardware designs and control algorithms for robotics applications.

Key Features

• Hardware Specs: 4-to-6 layer PCBs designed for 20A-40A continuous current at 24V.
• Control Algorithm: Field-Oriented Control (FOC) with current, speed, and position loops.
• Validation: Designs tested in RoboMaster environments.

Hardware

Designed with KiCad 8. For detailed specifications, schematics, and measured performance, please visit the Hardware directory or click on a specific project below.

Project Name	Target Motor	Key Specs	Core
RoboMotor-DJI-M3508	DJI M3508	24V 20A, 6-Layer, Sin/Cos Encoder	STSPIN32G4
RoboMotor-GIM6010-V2	GIM6010-8	24V 40A, Dual Encoder Support	STSPIN32G4
RoboMotor-GIM6010-V2-Encoder	GIM6010-8	Magnetic Output Encoder PCB	MA730
RoboMotor-GIM6010	GIM6010-8	Legacy Reference Design	STM32G431 + FD6288

Software

The FOC control algorithm is developed for the STM32G4 series.

Features

• FOC Implementation: Sensor-based Field-Oriented Control with Flux/Torque decoupling and BEMF feedforward compensation.
• Control Loops: 17Khz inner Current loop + outer 4Khz Speed loop + 1Khz Position loop.
• Connectivity:
  • CAN Bus: Compatible with DJI RoboMaster protocols (M3508/C620).
  • Custom Protocol: Extended commands for parameter tuning and telemetry.
• Additional Functions:
  • Auto-Calibration: Routines for encoder offset and motor parameter identification.
  • Safety Mechanisms: Error handling (Over-current, Over/under voltage, Over-temp) with auto-recovery modes.
  • Feedback Support: Support for SPI magnetic encoders and analog inputs.

Find the source code and documentation in the Software/ directory.

License

This project is released under the MIT License.
See LICENSE for details.