# moteus

**Repository Path**: fuchaow/moteus

## Basic Information

- **Project Name**: moteus
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-12-14
- **Last Updated**: 2025-12-14

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# moteus brushless servo #

This contains full designs for the moteus brushless servo actuator,
including firmware and PCBs.

**WARNING**: This is not just a software project.  It includes designs
for moderately high power electronics.  It has not yet burned down my
(or anyone's that I know of) house, but there are no guarantees.


# Specifications #

| Name                   | r4.11        | c1         | n1        | x1          |
|------------------------|--------------|------------|-----------|-------------|
| Voltage Input          | 10-44V       | 10-51V     | 10-54V    | 10-54V      |
| Peak Electrical Power  | 900W @ 30V   | 250W @ 28V | 2kW @ 36V | 1.3kW @ 36V |
| Mass                   | 14.2g        | 8.9g       | 14.6g     | 23.8g       |
| Control Rate           | 15-30kHz     | -          | -         | -           |
| PWM Switching Rate     | 15-60kHz     | -          | -         | -           |
| CPU                    | STM32G4      | -          | -         | -           |
| Uncooled phase current | 12A          | 5A         | 9A       | 25A         |
| Cooled phase current   | 32A          | 14A        | 26A       | 62A         |
| Peak phase current     | 100A         | 20A        | 100A      | 120A        |
| Communications         | 5Mbps CAN-FD | -          | -         | -           |
| Dimensions             | 46x53mm      | 38x38x9mm  | 46x46x8mm | 56x56x10mm  |

Assembled and tested boards can be purchased at: https://mjbots.com


# Directory structure #

* hw/ - hardware (mechanical and electrical designs)
  * controller/ - PCB design for moteus-r4.11
  * c1/ - PCB design for moteus-c1
  * n1/ - PCB design for moteus-n1
  * x1/ - PCB design for moteus-x1
* fw/ - firmware for brushless controller
* lib/ - client side software
* utils/ - diagnostic tools
* tools/ - bazel build configure
* docs/ - documentation

# Documentation #

* [Quick Start](https://mjbots.github.io/moteus/quick-start)
* [All Documentation](https://mjbots.github.io/moteus/)
* [Discord](https://discord.gg/W4hUpBb)

# Misc #

 * [![CI Status](https://github.com/mjbots/moteus/actions/workflows/ci.yml/badge.svg)](https://github.com/mjbots/moteus/actions/workflows/ci.yml)

# How to support moteus development #

The easiest way to support development the moteus hardware and firmware is as follows:

1) Buy things from https://mjbots.com
2) Build awesome machines!

That's it!  If for some reason you want to go above and beyond, you can sponsor mjbots through github: https://github.com/sponsors/mjbots

# License #

All files contained in this repository, unless otherwise noted, are
available under an Apache 2.0 License:
https://www.apache.org/licenses/LICENSE-2.0

# Trademark #

mjbots Robotic Systems LLC owns and protects the "mjbots" and "moteus" trademarks in many jurisdictions.

If you want to use these names in your project or product, please read the [Trademark Policy](https://mjbots.com/trademark-policy)