Small robots often use servos or small brushed DC motors, but they are not as power dense as the brushless DC (BLDC) motors commonly found in drones. Called the Ø32 because the M2 mounting holes are on a 32mm diameter circle, this project aims to control 7-15V motors with position feedback, while fitting almost completely behind a 2304 drone motor.

Youtube channel with short videos

Application of motor controller

Specs:

• M2 mounting holes on a 32mm diameter circle
• 27mm x 27mm x 0.8mm, 4-layer, 1oz copper PCB
• 7-15V input, built-in voltage sensing
• Internal temperature sensor
• 12-bit magnetic angle sensor
• 3 shunt current sensing and overcurrent protection 
• 2x 2-pin JST-SH connectors for RS-485 communication, allowing daisy chaining
• 1x 4-pin JST-SH connector for Serial Wire Debug programming and UART output
• 3.3V auxiliary output

Critical components:

• STSPIN32F0A BLDC gate driver and Cortex-M0 MCU
• MA702 magnetic angle sensor
• CSD88584Q5DC dual MOSFETs (50A continuous)

Firmware here: https://github.com/qwertpas/O32controller_FW