Hey folks! Long time fan of Klipper’s architecture! I’ve always wanted thought the same architectural concept would apply perfectly to control servo motors. That is; do the motion planning in Python on a non-RT host computer and stream the motion profile, ready to run, to the RT MCU on the servo dr…

(sorry, I had to split this in two because the forum said new users aren’t allowed to include so many links in one post :frowning: ) For the control protocol, I’m imagining expressing all the paths as splines or a semantically equivalent piecewise-polynomial. This makes it extremely efficient and s…

Nice! Thank you for the link! Looks like it’s very similar in concept to the suggestion here. Do you know if the project got much traction at all? I notice there hasn’t been any commits on the branch recently? @copper280z also sent me this repo doing something almost identical FW-wise with Simple…

The above linked “experiment” is no longer followed up since demand and supply of proper hardware was pretty low back then. An interested developer would need to pick it up and carry it across the finish line.

Have you been at all involved in its development? We’ve been working on some BLDC servos that are coming out pretty inexpensive (~$30, motor and all!). If you’ve got the right experience and you’re keen to join in perhaps we could send you some once we get them?

[image] mawildoer: Have you been at all involved in its development? Not at all. I just clean up here, but thanks for the offer. Appreciated.

Interesting. I’d be curious what chips you plan to use on the board you are designing. I have spent a bunch of time on “stepper servo” support in the past. Both in prototyping of “mechaduino support” and in implementation of magnetic hall sensors for precise stepper axis position monitoring ( Con…

Hi, I’m the author of the repo linked by the OP. I’ve been working on a similar, but separate, effort. I mostly agree with everything you said. I also think that due to the heavy computational demands of high bandwidth FOC motor drives, it’s not a great candidate to integrate into the Klipper MCU f…

Interesting. [image] copper280z: I haven’t tried to get accel from finite difference but I assume it’ll be noisy It should be possible to limit noise by reducing the “step size”. In a “servo” setup, the “distance travelled for each step” is a nominal value, as there isn’t actually discrete …

Thanks for all the input folks, and apologies I’ve been a little MIA! We’ve got the next rev. of our servo drives we’re quite excited about! They were about $70 (USD) as pictured in the 9-off quantity we got, but we’re hoping/planning to get that down to being able to sell them for about $50. The…

Brushless Servo Support

Features

Sineos November 6, 2023, 6:38am 3

You might want to check Mechaduino experiment

Topic		Replies	Views
Question with respect to the implementation of closed-loop feedback in Klipper Developers	8	463	January 10, 2026
Mechaduino experiment Developers	3	5121	February 10, 2022
Servo Motors on Klipper Firmware General Discussion	0	543	October 31, 2024
Servo motor causing Lost communication with MCU 'mcu' General Discussion	7	369	January 5, 2025
Porting some idea's to Klipper, freq / amp modulated output shaper, (can someone suggest a proper name for this methodology?) Developers	6	1829	January 24, 2022

Brushless Servo Support

Related topics