Ebike and escooter motors make great actuators

100 delicate and silent newton-meters

Thats pretty impressive. trial and error to get the correct rotation mix to throw to catch the ball or physics math?

the easy way

Their biggest downside are the manufacturing tolerances. When we tested some they had very poor phase symmetry and they gave up lots of torque to allow easier bearing tolerances. At least the phase asymmetry can be calibrated out 👍

Def, anticogging is basically perfect with a good encoder within a normal temp range

is this a hall sensor or an encoder

16 bit magnetic ring encoder mounted internally, was incredibly hard to implement lol

That is more than a real job, it is a great job and you have done great job, keep it up.

This is so neat! How do you control it?

I don’t remember which of our motor controllers was in the motor here, but I’d guess it was being commanded by a very dumb python script setting positions with ramped accelerations. Giant high pole count direct drive motors with above 12-bits of encoding are smooth as silk