ΛMULET is a high-power brushless motor controller, compatible with the moteus firmware. It was specifically designed to be integrated in EPFL Xplore's Legged Robot actuators.
| Parameter | ΛMULET V1.0 |
|---|---|
| Voltage Input | 12-44V |
| Peak Electrical Power | TBD |
| Mass | TBD |
| Peak Phase Current | 100A |
| Communication | 5Mbps CAN-FD |
| Cooling | 12V Fan |
| Positioning | 2x Onboard 14-bit Encoders |
| Control rate | 15-30kHz |
| PWM Switching Rate | 15-60kHz |
| MCU | STM32G474 |
| Dimensions | 69.67 × 76.7 mm |
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├─ Computations # Misc calculations
├─ DXF_SVG # Vector graphics
├─ HTML # HTML files for generated webpage
├─ Images # Pictures and renders
│
├─ kibot_resources # External resources for KiBot
│ ├─ colors # Color theme for KiCad
│ ├─ fonts # Fonts used in the project
│ ├─ scripts # External scripts used with KiBot
│ └─ templates # Templates for KiBot generated reports
│
├─ kibot_yaml # KiBot YAML config files
├─ KiRI # KiRI (PCB diff viewer) files
│
├─ lib # KiCad footprint and symbol libraries
│ ├─ 3d_models # Component 3D models
│ ├─ lib_fp # Footprint libraries
│ └─ lib_sym # Symbol libraries
│
├─ Logos # Logos
│
├─ Manufacturing # Assembly and fabrication documents
│ ├─ Assembly # Assembly documents (BoM, pos, notes)
│ │
│ └─ Fabrication # Fabrication documents (ZIP, notes)
│ ├─ Drill Tables # CSV drill tables
│ └─ Gerbers # Gerbers
│
├─ Report # Reports for ERC/DRC
├─ Schematic # PDF of schematic
├─ Templates # Title block templates
├─ Testing
│ └─ Testpoints # Testpoints tables
│
└─ Variants # Outputs for assembly variants
Associated firmware is forked from the moteus repository.
Schematic is hugely inspired by the moteus controllers designed by Josh Pieper. They were modified to meet our own specifications, and to follow what I personally consider good layout practices.
