The next version of moteus targeted at smaller BLDC motors is now here!  Lower output current (20A peak, 5/14A continuous), smaller (38mm x 38mm), and cheaper ($69), it makes moteus usable in a lot of domains where it wouldn't normally be an option.

The moteus-c1 supports many of the external I/O capabilities that the moteus-n1 does, the biggest exception being no RS422 support, and no connector for AUX1.  The AUX2 connector is the same GH-7 and has an identical pinout, including providing 5V to external peripherals and having all pins be 5V tolerant.

I made up a few different demos (at least one of which will probably get its own project page), and concatenated them into a short promo video here:

oh, and the moteus-c1 is still fully open hardware and firmware, now in KiCAD format!

https://github.com/mjbots/moteus/tree/main/hw/c1