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.

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

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

You can set up the environment with either conda or uv. Both install the same pinned dependency versions.

Prerequisite: Miniconda.

1. Clone the Winder repository and enter it:

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

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

   conda env create -f environment.yml

3. Activate the conda environment:

   conda activate winding
   export PYTHONPATH=$PWD

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

   cp settings-example.yml settings.yml

Prerequisite: install uv.

1. Clone the Winder repository and enter it:

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

2. Create the virtual environment and install all dependencies (uv installs Python 3.12 automatically if needed):

   uv sync

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

   cp settings-example.yml settings.yml

That's it — no need to set PYTHONPATH. Run any command inside the environment with uv run, e.g. uv run python scripts/main.py -s or uv run pytest.

• 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)

BE4108 75T gimbal motor

This motor was initially a drone motor.

Quickstart

See simulation/README.md for details.