To use the moteus brushless controller with a motor, you first have to calibrate it with moteus_tool (for history, see “Encoder autocalibration” and “Auto-tuning current control loops”). This calibration process is primarily used to measure the mapping between electrical phases and the encoder, but as a secondary parameters also measures the winding resistance and Kv of the motor and determines the parameters necessary to set the current control bandwidth.

Motivation

To date, this process can be used with any motor, but making it work can involve fiddling with a number of inscrutably named command line parameters to moteus_tool. --cal-power, --cal-voltage, and --cal-speed are all there, however they don’t really do what you think based on their name, but it is necessary to adjust them to make many motors work.

I made an overview video for my Pocket NC touch probe integration!

The original write ups can be found at:

• Part 1 - Motivation
• Part 2 - Mechanical Hardware
• Part 3 - Electrical
• Part 4 - Software

And the designs and source code can be found at: