Naoki Yokoyama
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Testing my BLDC motor driver PCB


After components were soldered on

Stabilize camera shots

After learning Altium at my co-op at iRobot, I wanted to design my own PCBs and use it for a personal project. I started this long term project so that I could have more hands-on experience with control systems and quaternions, interesting topics I learned in class. I designed a BLDC driver using STM's L6234 IC; I ordered the bare PCBs from OSH Park, which charges $10 per sq inch, and requires you to order at least three copies of the same PCB. Fortunately 1 sq inch was enough, and since I need three boards anyway it was a good opportunity to use the service.

Altium files

Main components (tentative)

  • L6234 Motor Driver
  • 3x 5208 BLDC Motors
  • 2x 6DOF IMUs (under camera + on handle)
  • Teensy 3.2 MCU