I want to make my powerhouse for my future robotics projects. The controller board senses the rotor's position from a magnetic encoder and modulates three phase voltage accordingly to achieve control goal. I have tuned the current loop to have a bandwidth of 2 kHz, and currently tuning the velocity and position loop. A command interface is also under construction.
This module is designed for localization need of my club Yonder Dynamics. I designed a compact PCB that holds IMU, pressure sensor, GPS, and magnetometer and communicates all information to ROS network through a ported rosserial package. I also learned to use ESKF to fuse all information.
I made a hand-held gimbal for stabilizing my phone when taking videos. The system cotains 3 BLDC motors and 2 IMUs, one at the handle and another attached to the end effector(phone holder). The difference between the IMU are used to calculate joint angles and guide the 3 phase voltage modulation.