An overengineered PCB to control two stepper motors.
Naming
A centipede has a lot of legs, so takes a lot of steps.
Project Description
The PCB is designed for our main robot to control stepper motors. It supports the special features of the TMC2209 like UART configuration and diagnosis pins, but should work with any driver that follows the conventional pinout. It connects to the main computer using CAN bus.
The microcontroller is the RP2354, whose programmable IO is used to implement the CAN controller. The firmware is based on can2040.
3D Viewer
Project Files
The project files for the PCB can be found at https://gitlab.com/die-dosen-stapler/evergreen/pcbs/centipede. An interactive preview is below.