Can Servo

An upgrade to 55g servo motors to make them more usable

This is still a work in progress, check out the wiki for more detailed information.

This upgrade consists of removing the original mainboard + potentiomenter and upgrading them with the following features:

Features

• Temperature and current sensing
• Magnetic encoder for positioning
• Control over CAN (TWAI) bus
• Daisy chainable motors
• Onboard ESP32-C6, running FreeRTOS (ESP-IDF)
• Setable CAN ID
• Able to communicate sensor information back to other CAN nodes
• Setting RGB color
• Position Control
• PID
• Variable motor speed
• Limiting Current / Temperature
• Using RGB for status
• PID parameters over CAN
• Motor Sleep
• "All respond" node id
• Reboot Command
• Add RXSDO and TXSDO for getting and setting values without a specified command
• Add MCU temperature TXSDO
• Add MCU MAC address TXSDO
• Basic Velocity Control

Planned Features

• Proper Velocity Control (Change Velocity to RPM, rather than just "speed")
• Node ID set in NVS rather than in code
  - Use a combination of MAC Address and receive all NODE ID
  - MAC address is polled using TXSDO, node id is sent back from controller
  - Node ID is saved to NVS
  

Additional Work:

• Upload CAD
• Upload (and Update) PCB
• Upload (and Update) Schematic
• PDF Build Guide

PCB BOM

1 x ESP32-C6-Zero (Waveshare)
1 x MP6550 Driver Carrier (Pololu)
1 x 10K resistor
1 x TJA1050, CAN Transceiver
1 x "Mini 360" Buck converter, MP2307
2 x 4p f 2.54 JST
1 x 6p f 2.54 JST