Welcome to MotorGo Mini Driver’s documentation!
MotorGo Mini Driver
The MotorGo Mini is a 2-channel brushless motor controller and microcontroller combo designed to accelerate the process of robot prototype development. MotorGo Mini handles the low-level details of motor control, including power distribution, current sensing, encoder reading, PID controls, and communications, so that you can focus on the high-level details of your robot’s behavior.
Key Hardware Features:
- 2-channel brushless motor controller
2.1 A continuous current per channel
Field Oriented Control (FOC)
Current sensing
- 2-channel EncoderGo encoder support
14 bit resolution, 16384 counts per revolution
- ESP32-S3 microcontroller
240 MHz dual-core processor
Wifi and Bluetooh communication support
8 MB flash memory
7-11 V input voltage
Exposed 3.3 V, 5 V, and unregulated voltage rails
2x QWIIC connectors for easy sensor integration
8 GPIO (PWM) pin for additional sensor and motor integration
USB-C port
Unlike other motor controllers, you can program the MotorGo Mini to do whatever you want using the Arduino IDE (or PlatformIO). This means that for most basic robots, you don’t need another Arduino, Raspberry Pi, or other microcontroller to control your robot. The MotorGo Mini can do it all. For more complex robots, the MotorGo can still offload much of the low-level computation from your main computers, so they have more headroom for the high-level tasks.
Key Software Features:
Automatic wireless multi-board communication
Automatic motor pole pair discovery
Encoder magnet eccentricity compensation
PID Tuning via web interface
(Planned) ROS/ROS2 support
The MotorGo Mini Driver is the software that runs on the ESP32 onboard to enable all of the features. Follow the Getting Started guide to get the driver up and running.
API Documentation
The following sections include the API documentation generated from the source code.