winder

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Winding the wire for a BLDC motor is a time-consuming and labor-intensive process. This winding machine automates this tedious tasks.

Motors

This machine uses four motors to perform the winding operation:

• M0: Move M1 unit (closed loop control)
• M1: Rotate the stator (closed loop control)
• M2: Wind the wire (closed loop control)
• M3: Adjust the wire tension (closed loop torque control using voltage)

code: Aotenjo One

Master Controller

All motors are controlled by Aotenjo Master, a master controller board based on the STM32G431CBU6 microcontroller. It communicates with the host computer via USB and controls the motors via CAN bus.

code: Aotenjo Master

Prerequisites

• Miniconda: Download and install Miniconda for your operating system.

Installation

1. Clone the Winder repository:

   git clone https://github.com/aotenjo-xyz/winder.git

2. Navigate to the project directory:

   cd winder

3. Create a new conda environment and install the required dependencies:

   conda env create -f environment.yml

4. Activate the conda environment:

   conda activate winding
   export PYTHONPATH=$PWD

5. Create a settings.yml file based on settings-example.yml and update the settings as needed.

   cp settings-example.yml settings.yml

Hardware

• M0: BE4108 75T gimbal motor (built with this machine)
• M1: BE4108 75T gimbal motor (built with this machine)
• M2: BE4108 75T gimbal motor (built with this machine)
• M3: BE4108 60T gimbal motor (built with this machine)

Result

BE4108 75T gimbal motor

This motor was initially a drone motor.

Simulation with Godot

Quickstart

See simulation/README.md for details.