Here’s a small new addition to the mjbots product portfolio, the mjuart - a FT231X breakout board, now available at mjbots.com.

This USB to 3.3V level UART adapter includes appropriate cables to connect to all of the possible auxiliary ports on each moteus controller:

• moteus-r4 ABS: A ZH4 to ZH4 cable with RX/TX swapped
• aux1: A ZH4 to GH8 cable
• aux2: A ZH4 to GH7 cable

The FT231X can communicate without problems at up to 3 Mbps, which lets you capture high rate debug information from a moteus controller. It also works just fine with the yet-to-be-announced UART based control at its default baud rate of 921600 (or up to 3Mbps if you like living on the edge).