Skip to content

Commit

Permalink
Update documentation with references to moteus-c1
Browse files Browse the repository at this point in the history
  • Loading branch information
@jpieper
jpieper committed Apr 30, 2024
1 parent 570459b commit 330fe14
Show file tree
Hide file tree
Showing 2 changed files with 20 additions and 16 deletions.
22 changes: 11 additions & 11 deletions README.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -10,17 +10,17 @@ for moderately high power electronics. It has not yet burned down my

# Specifications #

| Name | r4.11 | n1 |
|-----------------------|----------------|-----------|
| Voltage Input | 10-44V | 10-54V |
| Peak Electrical Power | 500W | 1200W |
| Mass | 14.2g | 14.6g |
| Control Rate | 15-30kHz | - |
| PWM Switching Rate | 15-60kHz | - |
| CPU | 170Mhz STM32G4 | - |
| Peak phase current | 100A | - |
| Communications | 5Mbps CAN-FD | - |
| Dimensions | 46x53mm | 46x46x8mm |
| Name | r4.11 | c1 | n1 |
|-----------------------|----------------|-----------|-----------|
| Voltage Input | 10-44V | 10-51V | 10-54V |
| Peak Electrical Power | 500W | 100W | 1200W |
| Mass | 14.2g | 8.9g | 14.6g |
| Control Rate | 15-30kHz | - | - |
| PWM Switching Rate | 15-60kHz | - | - |
| CPU | 170Mhz STM32G4 | - | - |
| Peak phase current | 100A | 20A | 100A |
| Communications | 5Mbps CAN-FD | - | - |
| Dimensions | 46x53mm | 38x38x9mm | 46x46x8mm |

Assembled and tested boards can be purchased at: https://mjbots.com

Expand Down
14 changes: 9 additions & 5 deletions docs/reference.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -173,11 +173,11 @@ used for various functions.

ELECTRICAL NOTES:
* The 3.3V supply pins can power external peripherals:
* r4.5: 50mA
* r4.5/c1: 50mA
* r4.8/r4.11/n1: 100mA
* The 5V supply pins can power external peripherals:
* r4: not present
* n1: 100mA
* n1/c1: 100mA
* Some pins are 5V tolerant. Those not marked as such in the pin
option table are 3.3V only.

Expand Down Expand Up @@ -283,7 +283,7 @@ The following table shows which pins can be used for the unique capabilities:
| I | 5 | 2 | MISO | X | | | | |
| O | 6 | 3 | MOSI | X | | | | |

| moteus n1 | Con | AUX | SPI | ADC/Sin/Cos | I2C | HW Quad | UART | 5VT |
| moteus n1/c1 | Con | AUX | SPI | ADC/Sin/Cos | I2C | HW Quad | UART | 5VT |
|------------------|-----|-----|------|-------------|-----|---------|------|-----|
| 5V (5) | 1 | | | | | | | |
| 3.3V (3) | 2 | | | | | | | |
Expand All @@ -298,6 +298,10 @@ NOTE: For moteus n1, the B pin software configured pullup cannot be
used effectively. Thus the B pin is unsuitable for open-drain inputs
like hall effect sensors unless external pullups are provided.

NOTE: For moteus c1, only the D and E pins are exposed, and only on an
unpopulated 0.05" through hole land pattern. Additionally, I2C
pullups are not available on moteus-c1 for aux1.

#### AUX2 / ABS ####

| moteus r4.5/8/11 | Con | Aux | SPI | ADC/Sin/Cos | I2C | HW Quad | UART | 5VT |
Expand All @@ -309,7 +313,7 @@ like hall effect sensors unless external pullups are provided.
| DBG 1 | | 2 | | | | | | X |
| DBG 2 | | 3 | | | | | | X |

| moteus n1 | Con | AUX | SPI | ADC/Sin/Cos | I2C | HW Quad | UART | 5VT |
| moteus n1/c1 | Con | AUX | SPI | ADC/Sin/Cos | I2C | HW Quad | UART | 5VT |
|------------------|-----|-----|------|-------------|-----|---------|------|-----|
| 5V (5) | 1 | | | | | | | |
| 3.3V (3) | 2 | | | | | | | |
Expand Down Expand Up @@ -2368,7 +2372,7 @@ RS422, configured by AUX1 D/E to USART and enabling RS422 on AUX1.
- 7 - E
- 8 - GND

### moteus n1 - AUX2 - JST GH-7 ###
### moteus n1/c1 - AUX2 - JST GH-7 ###

- 1 - 5V
- 2 - 3.3V
Expand Down

0 comments on commit 330fe14

Please sign in to comment.