https://github.com/aotenjo-xyz/winder

BLDC motor winding machine
https://github.com/aotenjo-xyz/winder

bldc godot motor stm32

Last synced: 4 months ago
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BLDC motor winding machine

• Host: GitHub
• URL: https://github.com/aotenjo-xyz/winder
• Owner: aotenjo-xyz
• License: mit
• Created: 2025-05-22T16:18:41.000Z (about 1 year ago)
• Default Branch: main
• Last Pushed: 2025-10-19T14:42:56.000Z (8 months ago)
• Last Synced: 2025-10-19T16:40:26.241Z (8 months ago)
• Topics: bldc, godot, motor, stm32
• Language: Python
• Homepage: https://aotenjo.xyz/docs/winder/overview
• Size: 22.2 MB
• Stars: 60
• Watchers: 8
• Forks: 6
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# winder

[![BLDC motor winding machine](http://img.youtube.com/vi/486nUU2FjGU/0.jpg)](http://www.youtube.com/watch?v=486nUU2FjGU "BLDC Motor Winding Machine")

Winding the wire for a BLDC motor is a time-consuming and labor-intensive process. This winding machine automates this tedious tasks.

## Motors

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](https://github.com/aotenjo-xyz/one)

## Master Controller

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](https://github.com/aotenjo-xyz/master)

## Power Supply

Power supply: 18V 1.5A

## Hardware

- 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)

## Result

BE4108 75T gimbal motor



This motor was initially a drone motor.

[![Drone motor vs DIY gimbal motor](http://img.youtube.com/vi/56WxTAfKFDU/0.jpg)](https://www.youtube.com/shorts/56WxTAfKFDU "Drone motor vs DIY gimbal motor")

## Simulation with Godot

[Quickstart](simulation/README.md)

[![Simulation with Godot](http://img.youtube.com/vi/92i8CDEzeJ8/0.jpg)](https://www.youtube.com/watch?v=92i8CDEzeJ8 "Simulation with Godot")

See [simulation/README.md](simulation/README.md) for details.