The MMKBLDC Project is my attempt at building a decent controller for Brushless Motors. BLDCs are excellent sources of mechatronic actuation: they're [power dense](https://jakeread.pages.cba.mit.edu/actuators/) and serve the motion control justice present in most state of the art robotics. However, controlling them is non-trivial, and requires the combination of some EE expertise, some control expertise, and some hardware know-how.
The MMKBLDC Project is my attempt at building a decent controller for Brushless Motors. BLDCs are excellent sources of mechatronic actuation: they're [power dense](https://jakeread.pages.cba.mit.edu/actuators/) and serve the motion control justice present in most state of the art robotics. However, controlling them is non-trivial, and requires the combination of some EE expertise, some control expertise, and some hardware know-how.
The circuit uses a DRV8302 to drive CSD88584 (or CSD88599) half-bridges, which are rated to 40V / 50A and 60V / 30A respectively. Normally, I'll run 24V power. It connects to an AS5147 or AS5047D or AEAT6600 absolute encoder over SPI, and reads phase currents from the amplifier built into the DRV8302, as well as phase voltages from simple voltage dividers (which are clamped to 3V3 with a series of diodes).
The circuit uses a DRV8302 to drive CSD88584 (or CSD88599) half-bridges, which are rated to 40V / 50A and 60V / 30A respectively. Normally, I'll run 24V power. It connects to an AS5147 or AS5047D or AEAT6600 absolute encoder over SPI, and reads phase currents from the amplifier built into the DRV8302, as well as phase voltages from simple voltage dividers (which are clamped to 3V3 with a series of diodes).
