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Phobia Motor Controller

  • Software
  • Microcontrollers and firmware tools
  • Firmware

Open-source firmware for permanent magnet synchronous motor controllers, aimed at RC and electric transport uses. It runs on its own hardware or flashed onto supported third-party boards.

Source on GitHub: github.com/rombrew/phobia (opens in a new tab). Facts read at commit fc4c9a5 (opens in a new tab).

Licenses

Code
GPL-3.0-only (opens in a new tab)

Read by Robotheca from COPYING (opens in a new tab) (GPL-3.0-only) at commit fc4c9a5 (opens in a new tab), on 22 Oct 2026.

Commercial use
Yes

Copyleft: Modified source must be published.

What it does

  • Sensorless vector control of PMSM based on current and voltage measurements, with observers for low and zero speed.
  • Supports flux weakening and MTPA control, plus two- and three-phase machine connections.
  • Includes automated identification of stator resistance, inductances, flux linkage and inertia.
  • Offers nested speed, current and absolute position control loops with adjustable constraints.
  • Accepts inputs from analog knob, RC servo PWM, CAN bus, STEP/DIR, and a command line or graphical interface.
  • Supports multi-node CAN networking with automatic node address assignment.

Written by Robotheca from the project's README (opens in a new tab) at commit fc4c9a5.

Getting started

Difficulty
Advanced
Hardware it needs, as the project states it
Runs on an STM32F4 or STM32F7 microcontroller; the original REV5 board uses an STM32F405RG, supports battery voltages from 5v to 52v and phase currents up to 120A, and many third-party controllers (including VESC clones) are supported.

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
31 Jul 2026 on master
Latest release
default-511 (5 Jul 2026)

Checked on GitHub on 22 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.