├── .github └── workflows │ └── py.yaml ├── .gitignore ├── ArduinoLibrary └── ServoProjectController │ ├── CppArray.h │ ├── FixedMemVector.h │ ├── LICENSE.txt │ ├── SerialComOptimizer.cpp │ ├── SerialComOptimizer.h │ ├── ServoProjectController.cpp │ ├── ServoProjectController.h │ ├── defaultErrorFunctions.cpp │ ├── examples │ └── ArduinoDemo │ │ ├── ArduinoDemo.ino │ │ └── Makefile │ ├── keywords.txt │ ├── library.properties │ └── stdmin.h ├── ArduinoSketch ├── ArduinoSketch.ino ├── Makefile ├── config │ ├── default.h │ ├── defaultDS3225.h │ ├── defaultMG90S.h │ ├── defaultSim.h │ └── usbToSerial.h ├── configSelector.py ├── configurationWizard.py ├── defaultConfigHolder.h └── src │ ├── ArduinoC++BugFixes.cpp │ ├── ArduinoC++BugFixes.h │ ├── Communication │ ├── Communication.cpp │ ├── Communication.h │ ├── CommunicationHandlers.cpp │ ├── CommunicationHandlers.h │ ├── SerialComOptimizer.cpp │ ├── SerialComOptimizer.h │ ├── StatusLightHandler.cpp │ └── StatusLightHandler.h │ ├── Control │ ├── ComplementaryFilter.cpp │ ├── ComplementaryFilter.h │ ├── CurrentControlLoop.cpp │ ├── CurrentControlLoop.h │ ├── DCServo.cpp │ ├── DCServo.h │ ├── KalmanFilter.cpp │ ├── KalmanFilter.h │ ├── ReferenceInterpolator.cpp │ └── ReferenceInterpolator.h │ ├── Hardware │ ├── AdcHandler.cpp │ ├── AdcHandler.h │ ├── CurrentSampler.cpp │ ├── CurrentSampler.h │ ├── EncoderHandler.cpp │ ├── EncoderHandler.h │ ├── FailSafeHandler.cpp │ ├── FailSafeHandler.h │ ├── OpticalEncoderHandler.cpp │ ├── OpticalEncoderHandler.h │ ├── PwmHandler.cpp │ ├── PwmHandler.h │ ├── ResistiveEncoderHandler.cpp │ ├── ResistiveEncoderHandler.h │ ├── SimulationHandler.cpp │ ├── SimulationHandler.h │ ├── ThreadHandler.cpp │ ├── ThreadHandler.h │ ├── configuringMacros.h │ ├── platformSpecificClasses.cpp │ └── platformSpecificClasses.h │ ├── SampleAveragingHandler.h │ └── adam_stl.h ├── C++ ├── Demo │ ├── .gitignore │ ├── Makefile │ └── src │ │ └── main.cpp ├── Example6dofRobot │ ├── .gitignore │ ├── Makefile │ ├── include │ │ ├── DummyTrajectoryGenerator.h │ │ ├── PathAndMoveBuilder.h │ │ ├── Robot.h │ │ ├── RobotParameters.h │ │ └── gui.h │ └── src │ │ ├── PathAndMoveBuilder.cpp │ │ ├── Robot.cpp │ │ ├── RobotParameters.cpp │ │ ├── gui.cpp │ │ └── main.cpp └── Library │ ├── .gitignore │ ├── Makefile │ ├── include │ └── ServoProject.h │ └── src │ └── ServoProject.cpp ├── CadFiles ├── BootloaderProgrammer │ ├── 20240324_134954.jpg │ ├── readme.md │ ├── servoPCBProgrammer-Fillet.stl │ └── servoPCBProgrammer.FCStd ├── MicroServoMG90S │ ├── baseBox.stl │ ├── baseBushings.stl │ ├── encDisc.stl │ ├── encDiscTruningMount.stl │ ├── microServoCadQuery.py │ └── prusaSlicer.3mf ├── Robot │ ├── CompleteRobot.FCStd │ ├── brushedServo.step │ ├── brushedServoHorn.step │ ├── microServo.step │ ├── robot2CadQuery.py │ └── stl │ │ ├── GripperBase.stl │ │ ├── GripperClip.stl │ │ ├── GripperFinger1.stl │ │ ├── GripperFinger2.stl │ │ ├── GripperMount.stl │ │ ├── ServoBigMagEnc.stl │ │ ├── ServoBigMagEncMagHold.stl │ │ ├── ServoBigMount.stl │ │ ├── ServoBigMountMirrored.stl │ │ ├── midS2S3Cover.stl │ │ ├── s1Cover.stl │ │ ├── s3Cover.stl │ │ ├── s4Bushing.stl │ │ ├── s4Cover.stl │ │ ├── s4Mount.stl │ │ ├── s5Bushing.stl │ │ ├── s5Cover.stl │ │ ├── s5CoverP2.stl │ │ ├── s5Mount.stl │ │ ├── s6Bushing.stl │ │ ├── s6Cover.stl │ │ └── s6Mount.stl ├── ServoDS3225 │ ├── encDisc.stl │ ├── encDiscTruningMount.stl │ ├── gearLidBottom.stl │ ├── gearLidTop.stl │ ├── optSensorHolder.stl │ ├── pcbMount.stl │ ├── prusaSlicer.3mf │ └── servoCadQuery.py └── legacy │ ├── MicroServo │ ├── MicroServoAssembly.FCStd │ ├── OpticalEncoderWheelDimensions.png │ └── stl │ │ └── OpticalEncoderSensorMount.stl │ ├── ServoBrushed │ ├── PrusaMiniPrintProject.3mf │ ├── backCover.FCStd │ ├── motor.FCStd │ └── stl │ │ ├── EncDiscBlack.stl │ │ ├── EncDiscWhite.stl │ │ ├── backCover.stl │ │ ├── backCoverTransparent.stl │ │ └── motorLid.stl │ └── ServoCoreless │ ├── OpticalEncoderWheelDimensions.png │ ├── motorLid.FCStd │ ├── pcbMount.FCStd │ ├── stl │ ├── motorLid.stl │ ├── pcbMount-part1.stl │ ├── pcbMount-part2.stl │ ├── pcbMount-part3.stl │ ├── pcbMount-part4.stl │ ├── uMagEnc-part1.stl │ └── uMagEnc-part2.stl │ └── uMagEnc.FCStd ├── Doc ├── BuildInstructionsMicroServoMG90S.md ├── BuildInstructionsServoDS3225.md ├── BurnBootloaderUsingStlinkv2OnWindows.md ├── Dependencies.md ├── PartListForRobotAndGripper.md ├── Theory.md ├── legacy │ ├── BuildInstructionsBrushedServo.md │ ├── BuildInstructionsCorelessServo.md │ └── BuildInstructionsMicroServo.md └── readmeResources │ ├── ControlLoop1.png │ ├── ControlLoop1.svg │ ├── ControlLoop2.png │ ├── ControlLoop2.svg │ ├── FullControlLoop.png │ ├── FullControlLoop.svg │ ├── MicroServoMG90S │ ├── vlcsnap-2024-03-17-20h24m58s866.png │ ├── vlcsnap-2024-03-17-20h26m22s682.png │ ├── vlcsnap-2024-03-17-20h27m45s147.png │ ├── vlcsnap-2024-03-17-21h21m35s137.png │ ├── vlcsnap-2024-03-17-21h22m09s687.png │ ├── vlcsnap-2024-03-17-21h23m30s953.png │ ├── vlcsnap-2024-03-17-21h26m01s175.png │ ├── vlcsnap-2024-03-17-21h27m25s869.png │ ├── vlcsnap-2024-03-17-21h27m32s682.png │ ├── vlcsnap-2024-03-17-21h27m50s789.png │ ├── vlcsnap-2024-03-17-21h29m07s946.png │ ├── vlcsnap-2024-03-17-21h32m08s966.png │ ├── vlcsnap-2024-03-17-21h33m13s877.png │ ├── vlcsnap-2024-03-17-21h33m52s353.png │ ├── vlcsnap-2024-03-17-21h37m47s119.png │ ├── vlcsnap-2024-03-17-21h40m17s274.png │ ├── vlcsnap-2024-03-17-21h44m28s268.png │ ├── vlcsnap-2024-03-17-21h46m21s953.png │ ├── vlcsnap-2024-03-17-21h47m58s058.png │ └── vlcsnap-2024-03-17-21h49m10s475.png │ ├── ServoDS3225 │ ├── vlcsnap-2024-03-17-13h57m31s735.png │ ├── vlcsnap-2024-03-17-13h59m28s296.png │ ├── vlcsnap-2024-03-17-14h02m07s356.png │ ├── vlcsnap-2024-03-17-14h03m29s228.png │ ├── vlcsnap-2024-03-17-14h04m26s735.png │ ├── vlcsnap-2024-03-17-14h07m40s843.png │ ├── vlcsnap-2024-03-17-14h10m10s171.png │ ├── vlcsnap-2024-03-17-14h14m38s165.png │ ├── vlcsnap-2024-03-17-14h16m00s406.png │ ├── vlcsnap-2024-03-17-14h16m10s437.png │ ├── vlcsnap-2024-03-17-14h16m48s955.png │ ├── vlcsnap-2024-03-17-14h17m42s497.png │ ├── vlcsnap-2024-03-17-14h21m31s828.png │ ├── vlcsnap-2024-03-17-14h26m21s087.png │ ├── vlcsnap-2024-03-17-14h30m35s971.png │ ├── vlcsnap-2024-03-17-14h35m39s072.png │ ├── vlcsnap-2024-03-17-14h37m03s713.png │ ├── vlcsnap-2024-03-17-14h39m37s266.png │ ├── vlcsnap-2024-03-17-14h41m09s515.png │ ├── vlcsnap-2024-03-17-14h42m46s404.png │ ├── vlcsnap-2024-03-17-14h43m30s998.png │ ├── vlcsnap-2024-03-17-14h44m02s886.png │ └── vlcsnap-2024-03-17-14h49m06s877.png │ ├── UartBusPlain.svg │ ├── arduinoSetup │ ├── step1.png │ ├── step2.png │ ├── step3.png │ ├── step4.png │ ├── step5.png │ └── step6.png │ ├── fullSizeServo │ ├── OptEncBuild │ │ ├── step1.jpg │ │ ├── step2.jpg │ │ ├── step3.jpg │ │ ├── step4.jpg │ │ ├── step5_1.jpg │ │ ├── step5_2.jpg │ │ ├── step6_1.jpg │ │ ├── step6_2.jpg │ │ ├── step7.jpg │ │ └── step8.jpg │ ├── parts1.png │ ├── parts1.svg │ ├── parts2.png │ ├── parts2.svg │ ├── parts3.jpg │ ├── parts4.jpg │ ├── parts5.jpg │ └── parts6.jpg │ ├── microServoBuild │ ├── 1_disassemble1.png │ ├── 1_disassemble2.png │ ├── 1_disassemble3.png │ ├── 2_modifyMotor1.png │ ├── 2_modifyMotor2.png │ ├── 2_modifyMotor3.jpg │ ├── 2_modifyMotor4.jpg │ ├── 2_modifyMotor5.jpg │ ├── 2_modifyMotor6.jpg │ ├── 2_modifyMotor7.png │ ├── 2_modifyMotor8.png │ ├── 2_modifyMotor9.png │ ├── 3_opticalEncoderSensors1.png │ ├── 3_opticalEncoderSensors2.png │ ├── 3_opticalEncoderSensors3.png │ ├── 3_opticalEncoderSensors4.png │ ├── 3_opticalEncoderSensors5.png │ ├── 3_opticalEncoderSensors6.png │ ├── 3_opticalEncoderSensors7.png │ ├── 3_opticalEncoderSensors8.png │ ├── 4_sensorsWiring1.png │ ├── 4_sensorsWiring2.png │ ├── 4_sensorsWiring3.png │ ├── 4_sensorsWiring4.png │ ├── 5_mounting1.png │ ├── 5_mounting2.png │ ├── 5_mounting3.png │ └── 5_mounting4.png │ └── robot.jpg ├── LICENSE.txt ├── PcbDesignes ├── burnBootloaderWithOpenOCD.txt ├── combined │ ├── .gitignore │ ├── Footprints │ │ └── Motor17mm.kicad_mod │ ├── MCU_Microchip_SAMD │ │ ├── MCU_Microchip_SAMD.dcm │ │ ├── MCU_Microchip_SAMD.kicad_sym │ │ └── MCU_Microchip_SAMD.lib │ ├── combined-rescue.kicad_sym │ ├── combined.kicad_pcb │ ├── combined.kicad_prl │ ├── combined.kicad_pro │ ├── combined.kicad_sch │ ├── combined.xml │ ├── fp-lib-table │ ├── manufacture │ │ ├── gerber.zip │ │ ├── gerber │ │ │ ├── combined-B_Cu.gbl │ │ │ ├── combined-B_Mask.gbs │ │ │ ├── combined-B_Paste.gbp │ │ │ ├── combined-B_Silkscreen.gbo │ │ │ ├── combined-Edge_Cuts.gm1 │ │ │ ├── combined-F_Cu.gtl │ │ │ ├── combined-F_Mask.gts │ │ │ ├── combined-F_Paste.gtp │ │ │ ├── combined-F_Silkscreen.gto │ │ │ ├── combined-NPTH-drl_map.gbr │ │ │ ├── combined-NPTH.drl │ │ │ ├── combined-PTH-drl_map.gbr │ │ │ └── combined-PTH.drl │ │ ├── jlcpcbPcbaBOM.csv │ │ └── jlcpcbPcbaCPL.csv │ └── sym-lib-table └── legacy │ ├── MicroServo │ └── MainPcb │ │ ├── MainPcb.kicad_pcb │ │ ├── MainPcb.pro │ │ ├── MainPcb.sch │ │ ├── New_Library.lib │ │ └── sym-lib-table │ └── ServoCoreless │ ├── As5048aEncoderBoard │ ├── AS5048A-HTSP-500.lib │ ├── AS5048A-HTSP-500.mod │ ├── AS5048A.dcm │ ├── As5048aEncoderBoard.kicad_pcb │ ├── As5048aEncoderBoard.pro │ ├── As5048aEncoderBoard.sch │ ├── fp-lib-table │ └── sym-lib-table │ ├── MainPcb │ ├── MainPcb.kicad_pcb │ ├── MainPcb.pro │ ├── MainPcb.sch │ ├── New_Library.lib │ └── sym-lib-table │ └── OpticalEncoder │ ├── OpticalEncoder.kicad_pcb │ ├── OpticalEncoder.pro │ └── OpticalEncoder.sch ├── Python ├── ServoProjectModules │ ├── ArduinoManager.py │ ├── CalibrationAnalyzers │ │ ├── Helper.py │ │ ├── MotorCoggingTorque.py │ │ ├── OpticalEncoder.py │ │ ├── OutputEncoder.py │ │ ├── PwmNonlinearity.py │ │ ├── SystemIdentification.py │ │ ├── TestControlLoop.py │ │ └── __init__.py │ ├── Communication.py │ ├── ConfigurationGui.py │ ├── DependencyHandler.py │ ├── GuiHelper.py │ └── __init__.py ├── demo.py ├── installDependencies.py ├── lintPythonCode ├── runPythonTests └── tests │ ├── .pylintrc │ 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