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Mini Cheetah motor controller firmware (motorcontrol)

  • Software
  • Robot arms and industry
  • Firmware
  • Runs on hardware you can build

Firmware for the motor controller boards of the Mini Cheetah robot, written for a specific integrated three-phase controller and designed to be portable to other boards.

Source on GitHub: github.com/bgkatz/motorcontrol (opens in a new tab). Facts read at commit 93bbc60 (opens in a new tab).

Licenses

Code
MIT (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit 93bbc60 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Targets the motor controller hardware from the companion 3phase_integrated project.
  • Builds from the command line with the GNU Arm Embedded Toolchain and make, producing ELF, BIN and HEX outputs.
  • Offers a debug build option for easier troubleshooting.
  • Can flash the firmware to the board over an ST-Link programmer using STM32_Programmer_CLI or st-flash.
  • Also builds inside ST's STM32CubeIDE.
  • Most hardware settings are configured through a single hw_config.h file.

Written by Robotheca from the project's README (opens in a new tab) at commit 93bbc60.

Getting started

Difficulty
Advanced
Hardware it needs, as the project states it
An STM32-based three-phase motor controller board (the bgkatz 3phase_integrated design) with an ST-Link programmer for flashing; a computer with the GNU Arm Embedded Toolchain and make, or STM32CubeIDE.

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
12 Aug 2026 on master
Latest release
None published on GitHub

Checked on GitHub on 16 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.