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Closed Loop Motor Controller
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Latest commit 961e4b6 Jan 4, 2018
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BOM updated pcb files Jan 4, 2018
Bootloader no compiler optimizations May 26, 2017
Images remove old files Mar 8, 2017
Servomotor Updated servomotor datasheet May 4, 2017
.gitattributes :octocat: Added .gitattributes Dec 13, 2016
.gitignore august updates Aug 12, 2017
LICENSE.txt update Oct 14, 2016 august updates Aug 12, 2017
manual.pdf updated manual Aug 14, 2017
tarocco-cabling.pdf Installation Info Jul 15, 2017


Open Source Closed Loop Motor Controller

Tarocco (c) by Gino Magarotto

Tarocco is licensed under a Creative Commons Attribution-ShareAlike 3.0 Unported License.

You should have received a copy of the license along with this work. If not, see

Low cost servo drive for small CNC machinery

Get yours on



  • TX_SEND timer period changed to 1874. This makes the reporting frequency exactly 100 Hz (not taking clock tolerance into account)
  • Added a serial command to clear any fault flag. Useful when calibrating the controller parameters
  • Holding the reset pin low before powering the board puts the microcontroller into bootloader mode. You won't have to worry about the three second timeout window anymore *V1.1 board and schematic files with fiducials and test points for pogo pins instead of a programming connectos are available.


  • Fixed motor stutter every third of a second
  • Fixed serial communications bug that froze the status reporting
  • Made status reporting frequency exactly 100 Hz, to help with plotting and tunning
  • Increased maximum following error value to 32000
  • User can now switch between current or PWM output for status reporting

Thanks to Patrick Dussud for all the help


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