moteus-x1 developer kit

This is the developer's kit for the moteus-x1 brushless servo controller.

Specifications for the moteus-x1 controller (also available for purchase separately): 

• 3 phase brushless FOC based control
• Voltage Input: 10-54V (<=12S)
• Temperature: -40-85C
• Peak phase current: 120A
• Continuous phase current: 25A / 60A (w/o and w/ thermal management)
• Peak Electrical Power: 1.3kW @ 36V
  
• Mass: 23.7g
  
• Control rate: 15-30kHz
  
• PWM switching rate: 15-60kHz
• 170 MHz 32 bit STM32G4 microcroprocessor
  
• Max electrical frequency: 3kHz
  
• Dimensions: 56x56x10mm - 2D CAD (pdf) / 3D Model (STEP)
• Board Mountable: Power, CAN, motor, 12V fan, thermistor, and AUX2
  
• Communications: 5Mbps CAN-FD
  
• Power Connector: XT30PW-M
  
• Data Connector: 2x JST PH-3
• Auxiliary connectors (JST GH7/8) with: SPI, UART, GPIO, ADC, Quadrature, Hall, and I2C support
• RS422 connector (JST GH6)
• 3.3V/150mA and 5V/200mA power available for external peripherals
  
• Open source firmware (Apache 2.0): https://github.com/mjbots/moteus

In addition, this is a development kit that includes everything you need to power up and evaluate the controller: 

• An mj5208 motor
• Bracket to mount the moteus controller to the motor
• Desk stand to hold the motor and controller - STL file
• 24V 5A power supply with universal input voltage range and XT30U-F connector.  A US plug to IEC C13 cable is included, any C13 cable could be used in other countries.
• mjcanfd-usb-1x w/ USB cable
• JST PH-3 cable for CAN communication
• USB STM32 programmer w/ moteus JST ZH-6 connector
• 1 mating XT30 connector, 1 mating JST-PH3 housing with crimp terminals, and a 6mm diametric disc magnet

Optional accessories:

• Daisy chain CAN-FD wiring: JST PH3 cables / Termination resistors
• Auxiliary port connector housings are available: GH6 (for RS422), GH7 (for AUX2), GH8 (for AUX1) and pre-crimped wire terminals for all GH connector housings
  
• A heat spreader can be used to improve thermal performance
  

Documentation is available in github and youtube: 

• Getting Started Guide
• Reference Manual
• Video tutorial for using the developers kit (and tview)