@@ -11,6 +11,12 @@ These are stepper drivers! They run:
The hardware is set up to run on the 'UCBus', a synchronous embedded protocol that establishes a bus clock *and* data lines on one RS485/UART Phy. Details are not documented anywhere ATM, but it w o r k s.
## Closed Loop
Circuits have a land for an AS5147P encoder, with which they can run closed-loop stepper control:

## Melted Version V02
I revisioned this recently to skip the module and just build the whole circuit on one board. Schematic is identical to V01, but now is much smaller (can fit on a NEMA14 size motor) and all components are SMT on one side, i.e. the AS5047P is on the same side as the H-Bridges, Micro etc.
@@ -1405,4 +1405,10 @@ OK, all seems sound now. So tomorrow would be about setting this up in a 'real s
- match vm api,
- build clank-stretch
- put it on the bus, check if all commands can still op. through the bus: this is higher bandwidth, check for drops etc, maybe you have to fix those now
- configure to grab positions from the bus, you'll be mixing closed- and open-loop motors not irregularely.
\ No newline at end of file
- configure to grab positions from the bus, you'll be mixing closed- and open-loop motors not irregularely.
## 2021 02 25
FWIW I made a demo of this today, and it looks pretty good: