Author: Yael Ben Shalom
Final project, MS in Robotics at Northwestern, 2021.

The system contained several key parts:

1. Motor (T-Motor, R60 KV115)
2. Encoder PCB (Designed for a Magnetic Rotary Encoder (AS5048A))
3. Driver (ODrive V3.6, 24V)
4. Odrive Adaptor PCB (Adaptor from ODrive connector to ethernet connector)
5. Elbow packaging (based on Fillauer E-400)
6. Battery

All 3D CAD files can be found here, and all circuit board schematics and manufacture files can be found here.