Arduino with moteus for brushless motor control

Get moteus: mjbots.com
moteus intro video: • moteus developer kit g...
Read more: jpieper.com/20...
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#bldc #arduino #mjbots

[@JohnLauerGplus]

I'd love to see a similar demo for ESP32!

[@awesjosh]

Maybe someday!

[@rudisoft]

Lots of greetings from Germany, Josh!

[@awesjosh]

Greetings back at you!

[@maurizionaletto583]

I love your awesome work

[@Ender_Wiggin]

Lets goo! Love you stuff.

[@wgm-en2gx]

Awesome, I have an moteus controller and haven't done much with it because the API was daunting. This seems to greatly lower the barrier. Although for me, I'd love to see a .NET core nuget package equivalent.

[@PhG1961]

Awesome and impressive!

[@imad-eddinenaciri6238]

Great work

[@남호창-p5x]

Hello, I'm a university student in Korea, majoring in robotics. I became interested after seeing the development process of your robotic dog. I'd like to create a brushless servo similar to the QDD100 using the MJ5208 brushless motor and Moteus R4.11 controller. However, I want to make it slightly smaller, which seems to require changes to the planetary gear section and the outer casing. Could you advise how to obtain related machined parts? Is it possible to purchase these components?

[@awesjosh]

Unfortunately, nothing can be purchased off the shelf. You can look at historical posts at jpieper.com to get an idea of some of the steps, but it I have to warn you that it will be a challenging endeavor.

[@톱니바퀴-p7h]

Hello! I am a university student majoring in robotics in Korea. I am trying to control a motor in torque mode using Arduino IDE. I successfully created torque mode by applying feedforward torque through Python TView, but I am not sure how to set up torque mode and apply a constant torque using Arduino IDE. Could you please advise me on how to achieve this?

[@awesjosh]

Before doing so with Arduino, I would recommend practicing with tview and the `d pos` commands and the reference: github.com/mjbots/moteus/blob/main/docs/reference.md#torque-control The principal is to set the kp and kd gains to 0, so in tview that would look like: d pos nan 0 nan p0 d0 f0.1 Where f0.1 is applying 0.1Nm of torque. In the C++ library, you have to accomplish the same thing, but need to configure it to send the kp and kd gain overrides. It will look like: ``` mjbots::moteus::PositionMode::Format pos_fmt; pos_fmt.kp_scale = moteus::kFloat; pos_fmt.kd_scale = moteus::kFloat; mjbots::moteus::PositionMode::Command pos_cmd; pos_cmd.kp_scale = 0.0; pos_cmd.kd_scale = 0.0; Moteus moteus; moteus.SetPosition(pos_cmd, &pos_fmt); ```

[@awesjosh]

Also, the mjbots Discord is a lot easier place to ask questions than KZbin comments, and will get a much faster response: discord.gg/W4hUpBb

[@GavinRemme]

I want to build a steer by wire steering rack for a go kart and am considering this. Can it monitor and send output torque back to the Arduino?

[@awesjosh]

Yep, you can.

[@mattanimation]

nice!

[@4jaymoper441]

How do I control multiple motors with one arduino

[@awesjosh]

First change the `id.id` configuration for each servo using tview. Following the procedure here: github.com/mjbots/moteus/blob/main/docs/reference.md#idid you first change it, then immediately restart tview with the new id in order to issue the `conf write`. Note, this must be done with a CAN-FD interface that is compatible with tview, just like for calibration. Then, in your Arduino script, just assign unique IDs to each of the devices like in the BasicControl example: github.com/mjbots/moteus-arduino/blob/121db53dd9ff38d493652082b6ad0dd8edc963aa/examples/BasicControl/BasicControl.ino#L33

[@tomcypher3864]

Hi! Will there be code to use for STM32?

[@awesjosh]

There is unlikely to be a high level library ready made, although you can use parts of this library. There is a worked CubeMX example here: github.com/mjbots/moteus-fdcantest

[@sangvominh7622]

I want to export the motor current graph, what should I do?

[@awesjosh]

Are you using an Arduino? If so, just print the current value to the serial console!

[@AntotaboQC]

Moteus, see you soon on a teensy 4.0 ;) I need to send 2 more Christmas card this year. One for you, one for @PaulStoffregen.

[@하지훈-s9z]

Do I have to have a CAN controller like MCP2517FD to control the moteus in teensy 4.1? Can't we just do this since teensy 4.1 supports CANFD?

[@awesjosh]

You may be able to use the CAN-FD controller built in to the teensy, but it still requires an external transceiver as the system in the teensy only operates at logic levels. Also, the moteus Arduino library will only work currently with the MCP2517FD and you would have to modify it to work with the teensy's built in controller.

[@하지훈-s9z]

@@awesjosh It was very helpful!! Thank you.

[@julieta203]

ah the good old Cyanoacrylate Gel but if you dont have that at hand just use super glue :D