Tinymovr Motor Controller R5.2

Tinymovr is equipped with a Qorvo PAC5527, a 150MHz 32-bit ARM Cortex M4F, also featuring integrated gate drivers with safety features, power management, differential current sense amplifiers and an advanced ADC.

The board measures 36 mm x 40 mm, a footprint compact enough to hide behind a 5005 or larger brushless motor. Reasonable component placement leaves ample room for encoder magnet and wiring.

Tinymovr supports efficient power management, including regenerative braking, as well as support for flux braking. The power stage is optimized with the use of low RdsOn MOSfets, efficient polymer and ceramic capacitors, and a carefully designed layout.

Both the firmware that runs on board, as well as client libraries and apps are and will remain open source.

Tinymovr characterizes several motor parameters during the calibration phase, including R & L values, pole pair count, encoder non-linearity and Hall sensor sequence. Corrections to encoder readings and current controller gain tuning are then performed automatically.

Tinymovr Studio is a high level Python client that allows easy motor control through an iPython interface, with Extensive documentation. There is also an Arduino Library available for control of multiple Tinymovrs using CAN bus from Arduino.

Tinymovr includes a real-time trapezoidal trajectory planner, enabling it to generate acceleration- and velocity-limited trajectories, as well as time-limited trajectories for multi-axis synchronization.

Optional hardware watchdog feature to safely disable power to the motor should a communication error occur

Tinymovr uses 20kHz for both PWM and control loop rate, enabling inaudible operation, wide control bandwidth, and conservative resource usage.