The Dagor Controller is a fully integrated tiny solution for brushless-based actuators with wireless capabilities and three operation modes: angular position, velocity and torque. It is an ESP32-based brushless controller that has an on-board magnetic encoder, a three-phase MOSFET driver, three MOSFET half-bridges, a temperature sensor and current sensing resistors.
📢 DOCUMENATION WEBSITE: https://docs.dagor.dev/
| Specification | Rating |
|---|---|
| Dimensions | 44 x 44mm |
| Mass | 12g |
| Power source voltage | 5-24V |
| Peak rms current | up to 40A |
| Magnetic sensor resolution | 14 bits |
| Temperature sensor range | -10 ~ 120°C |
Note: The project is STILL currently on it’s Alpha stage and with the help of the Alpha testers the project will move forward faster.
The Dagor Brushless Controller was designed as a simple platform for hobbyist and students to power brushless-based projects. This board offers wired and wireless connectivity modes to accommodate a variety of different kinds of projects. The firmware for this board was developed for the Arduino development environment and powered by the SimpleFOC project. This code is merely a starting point as it’s encouraged to modify it to fit specific projects. The firmware being very easy to modify and understand gives some key advantages:
- great platform for single board projects
- custom communication schemes for multi-board projects
- implementation of unique control laws
- endless amount of compatible libraries
| Reivision | Changes |
|---|---|
| 2.7 | Solid GND plane, input TVS diode. |
| 2.6 | Rearrenged the LEDs to avoid bleed, added extra bulk capacitance to the back. |
- Torque/ current control mode
- PWM input control
- Full fault diagnostics report
- DRV8305 communication library
- Deep-sleep mode
- Save calibration parameters in ESP32's EEPROM
- Stall detection algorithm
- Finish RS-485-based protocol, directional comms working
- Virtual walls algorithm
- Detect DRV warnings vs. errors
- Make nicer out of bounds behavior
- Finish implementing state machine
- Change "H" homing command to accept home as arbitrary number or current position
- OTA Update
- Status LED blink patterns
david@simplefoc.com
Linkedin
YouTube
