An open-source, high-performance controller for brushed DC and coreless motors.
DCServo is an open-source hardware and firmware project designed to transform common brushed DC and high-performance coreless motors into precise smart actuators. It is built for applications requiring high torque, fast response, and reliable absolute positioning.
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Control Performance
- 32-bit STM32G4 Microcontroller with FPU for high-speed, floating-point control algorithms.
- Absolute position feedback via a high-resolution, on-axis magnetic encoder.
- High-frequency PWM and advanced control loops for smooth, precise motion.
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Hardware
- Support for both standard Brushed DC and high-performance Coreless motors.
- Onboard NTC thermistor input for external motor temperature monitoring.
- Non-volatile NOR Flash for storing configuration parameters.
- Multi-layer PCB design for superior thermal performance and noise immunity.
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Interfaces
- CAN Bus: Primary command and control interface (DroneCAN target).
- Serial: UART for configuration and debugging.
- I/O Expansion:
- 1x 6-pin SPI Port (JST-GH/SH)
- 2x 2-pin General Purpose I/O (JST-GH/SH)
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Mechanical
- Flexible encoder architecture, supporting both direct on-axis and remote off-axis mounting.
- Compact form factor designed for integration into custom mechanics.
This project is under active development for the V2 hardware and firmware. The previous V1 hardware is considered a functional prototype and is not recommended for new designs. Manufacturing from this repository is not advised until the V2 designs are validated.
The V2 platform will be available in two primary configurations. Development is currently focused on the Low Power version.
| Version | Target Voltage | Target Current | Status |
|---|---|---|---|
| Low Power | up to 36V | ~4A Continuous | In Active Development |
| High Power | TBD | TBD | Planned |
Comprehensive documentation is planned for the V2 release. In the interim, design and firmware source files can be found in the /hardware and /firmware directories, respectively.
Contributions are welcome. Please open a GitHub Issue to report bugs or suggest features. For code or hardware changes, please submit a Pull Request.
Join the discussion and get in touch:
- Discord: alex_3d
- Email: [email protected]
- Hardware: CERN Open Hardware License v2 (CERN-OHL-S)
- Software: MIT License