moteus firmware 2024-10-29
We’ve got a new firmware release for the moteus controllers up on github now, 2024-10-29! This update has a few new capabilities, a brief summary is below, while more detailed posts will come in the not too distant future:
MA600 Support: The MA600 from Monolithic Power Systems is an absolute magnetic encoder that uses a TMR (precision tunnel magnetoresistance) sensor. It is much more accurate with less noise than the AS5047P that moteus uses (or the MA732).
Configurable motor thermistor resistance: Previously only 47k motor thermistors were supported, which it turns out not many motors had. Now the resistance is configurable with a default of 10k, which seems much more common.
Improved encoder non-linearity compensation: The experimental encoder non-linearity compensation has been updated to use 256 bins instead of 32. This improves performance significantly with off-axis encoders. Additionally, the compensation tool works better, produces more useful plots, and can also compensate to an oracular reference encoder.
PWM output: Aux port pins that were capable of hardware quadrature (only on the moteus-n1 and moteus-c1), can now be configured to output a PWM signal. The PWM frequency is configurable and the duty cycle can be updated with diagnostic and register mode commands.
Get the release on GitHub here: