# Dagor Brushless Controller

The Dagor Controller is a fully integrated tiny solution for brushless-based actuators with wireless capabilities and three operation modes: angular position, velocity and torque. It is an ESP32-based brushless controller that has an on-board magnetic encoder, a three-phase MOSFET driver, three MOSFET half-bridges, a temperature sensor and current sensing resistors.

📢 DOCUMENATION WEBSITE: https://docs.dagor.dev/

Key specs

Note: The project is STILL currently on it’s Alpha stage and with the help of the Alpha testers the project will move forward faster.

What makes this Controller different?

The Dagor Brushless Controller was designed as a simple platform for hobbyist and students to power brushless-based projects. This board offers wired and wireless connectivity modes to accommodate a variety of different kinds of projects. The firmware for this board was developed for the Arduino development environment and powered by the SimpleFOC project. This code is merely a starting point as it’s encouraged to modify it to fit specific projects. The firmware being very easy to modify and understand gives some key advantages:

• great platform for single board projects
• custom communication schemes for multi-board projects
• implementation of unique control laws
• endless amount of compatible libraries

HW Revisions

Firmware Roadmap

• [x] Torque/ current control mode
• [ ] PWM input control
• [x] Full fault diagnostics report
• [ ] DRV8305 communication library
• [ ] Deep-sleep mode
• [ ] Save calibration parameters in ESP32's EEPROM
• [ ] Stall detection algorithm
• [ ] Finish RS-485-based protocol, directional comms working
• [ ] Virtual walls algorithm
• [ ] Detect DRV warnings vs. errors
• [ ] Make nicer out of bounds behavior
• [ ] Finish implementing state machine
• [ ] Change "H" homing command to accept home as arbitrary number or current position
• [ ] OTA Update
• [ ] Status LED blink patterns

Contact

david@simplefoc.com Linkedin
YouTube