Smart Servo Project

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The scope of this repository is to design a new controller board for the MG996R hobby servo, in order to improve position accuracy and performance.

In particular, the goal is to:

• Implement a more accurate position controller;

• Implement a current controller to limit stall overheating;

• Implement a I2C interface to control the servo, for:

  • current and position readings;
  • flexible and overwritable PID controller & threshold values;
  • calibration routine to estimate motor parameter;
  • possibility of daisy-chaining more servos using a limited number of ports;

More useful things to have are:

• Thermal safety shutdown;

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Folder Structure:

• "DATASHEETS": contains all of the datasheets for the components used, both in the original controller board and in the new developed board;

• "default servo control board": contains the KiCAD files of the reverse engineered original servo controller board;

• "MODELS & SIMULATIONS": contains the Simulink and LTSpice models, as well as the Matlab scripts for parameters and controller tuning;

• "SOURCE": contains all the code for the microcontroller;

• "STM32 PDFs & DATASHEET": contains the documentation of the microcontroller applied to the board, as well as some useful PDFs for making and programming embedded projects using the microcontroller itself;

• "STM32F103C8T6 minimum board": contains the KiCAD files of a minimum board for any embedded project using that specific microcontroller;