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6 layers69.7 × 76.7 mmAmulet controller, the printed circuit board in 3D

Amulet controller

aidanbrzezinski/Prism-test

ΛMULET is a high-power brushless motor controller, compatible with the moteus firmware. It was specifically designed to be integrated in EPFL Xplore's Legged Robot actuators.

Full screenGitHub.kicad_pcb
Size
69.7 × 76.7 mm
Copper layers
6
Thickness
1.66 mm
Parts
414
Nets
181
Pads
1,541
Tracks, vias
1,530, 794
Pours
406
Routed
Yes
KiCad
KiCad 10.0 (file 20260206)
Created
6 Sep 2026
Updated
6 Sep 2026

Overview

Amulet controller is an open-source printed circuit board by aidanbrzezinski, from the aidanbrzezinski/Prism-test repository on GitHub. It is a 6-layer board of 69.7 × 76.7 mm with 414 parts on 181 nets, routed with 1,530 tracks and 794 vias.

It is built around the AS5047P-ATSM, AS5048B-HTSP-500 and DRV8353FSRTAR, with the GRJ31CZ72A475KE01L, BAT41KFILM and RCS0402100RFKED among its other parts. Its parts include 138 capacitors, 60 resistors, 25 diodes, 9 transistors and 4 ICs. It belongs with the robots and motor control boards of this library.

Main components

12

README

README.md

Logo

Λmulet Motion Controller

CI Badge

ΛMULET is a high-power brushless motor controller, compatible with the moteus firmware. It was specifically designed to be integrated in EPFL Xplore's Legged Robot actuators.

3D Top Angled         3D Bottom Angled

SPECIFICATIONS

ParameterΛMULET V1.0
Voltage Input12-44V
Peak Electrical PowerTBD
MassTBD
Peak Phase Current100A
Communication5Mbps CAN-FD
Cooling12V Fan
Positioning2x Onboard 14-bit Encoders
Control rate15-30kHz
PWM Switching Rate15-60kHz
MCUSTM32G474
Dimensions69.67 × 76.7 mm

DIRECTORY STRUCTURE

text
.
├─ Computations       # Misc calculations
├─ DXF_SVG            # Vector graphics
├─ HTML               # HTML files for generated webpage
├─ Images             # Pictures and renders
│
├─ kibot_resources    # External resources for KiBot
│  ├─ colors          # Color theme for KiCad
│  ├─ fonts           # Fonts used in the project
│  ├─ scripts         # External scripts used with KiBot
│  └─ templates       # Templates for KiBot generated reports
│
├─ kibot_yaml         # KiBot YAML config files
├─ KiRI               # KiRI (PCB diff viewer) files
│
├─ lib                # KiCad footprint and symbol libraries
│  ├─ 3d_models       # Component 3D models
│  ├─ lib_fp          # Footprint libraries
│  └─ lib_sym         # Symbol libraries
│
├─ Logos              # Logos
│
├─ Manufacturing      # Assembly and fabrication documents
│  ├─ Assembly        # Assembly documents (BoM, pos, notes)

FIRMWARE

Associated firmware is forked from the moteus repository.

CREDITS

Schematic is hugely inspired by the moteus controllers designed by Josh Pieper. They were modified to meet our own specifications, and to follow what I personally consider good layout practices.

PHOTOS

Parts

414
QtyValueFootprintReferences
504u7 X7R 100V0_capacitor_smd:C_1206_3216_DensityHighC19, C21, C31, C32, C33, C34, C35, C36, C39, C40, C41, C42, C43, C44, C46, C47 +34
26100n X7R 50V0_capacitor_smd:C_0402_1005_DensityHighC10, C11, C101, C102, C103, C104, C105, C107, C108, C109, C111, C112, C113, C114, C115, C125 +10
21mousebites_single_0.7mm0_mousebites:mousebites_single_0.7mmMB1, MB2, MB3, MB4, MB10, MB11, MB12, MB13, MB14, MB15, MB16, MB17, MB18, MB19, MB20, MB21 +5
153n3 X7R 100V0_capacitor_smd:C_0402_1005_DensityHighC116, C117, C118, C119, C120, C121, C122, C123, C124, C133, C134, C135, C136, C137, C138
15BAT41KFILM0_diode_smd:D_SOD-523D3, D4, D5, D6, D7, D8, D9, D10, D11, D14, D15, D19, D20, D21, D22
14100R 1% 1/5W0_resistor_smd:R_0402_1005_DensityHighR22, R23, R25, R35, R36, R37, R38, R39, R40, R41, R42, R43, R48, R49
72k 1%0_resistor_smd:R_0402_1005_DensityHighR8, R9, R28, R44, R45, R46, R47
72u2 X7R 100V0_resistor_smd:R_0805_2012_DensityHighC15, C16, C17, C18, C20, C45, C52
7GND0_testpoint:TestPoint_Pad_D0.5mmTP52, TP53, TP54, TP55, TP56, TP57, TP58
6100k 1%0_resistor_smd:R_0402_1005_DensityHighR5, R19, R20, R21, R24, R29
65R 1% 0.4W0_resistor_smd:R_0603_1608_DensityHighR55, R56, R57, R58, R59, R60
67R5 1% 1/2W0_resistor_smd:R_0805_2012_DensityHighR10, R11, R13, R14, R16, R17
6Fiducial0_fiducials:Fiducial_1mm_Mask2mmFM1, FM2, FM3, FM4, FM5, FM6
6TPW1R306PL,L1Q0_transistor_fet:2-5S1AQ1, Q2, Q3, Q4, Q5, Q6
51u X7R 10V0_capacitor_smd:C_0402_1005_DensityHighC2, C6, C9, C24, C26
41k @ 100MHz0_resistor_smd:R_0805_2012_DensityHighFB1, FB2, FB3, FB4
44u7 X7R 100V0_capacitor_smd:C_1206_3216_DensityHighestC89, C96, C98, C100
4G***kibuzzard-657F7953kibuzzard-657F7953, kibuzzard-657F7953, kibuzzard-657F7953, kibuzzard-657F7953
4G***kibuzzard-657F78EDkibuzzard-657F78ED, kibuzzard-657F78ED, kibuzzard-657F78ED, kibuzzard-657F78ED
3+3V30_testpoint:TestPoint_Pad_D0.5mmTP48, TP49, TP50
3+VBAT0_testpoint:TestPoint_Pad_D0.5mmTP39, TP40, TP41
30R0_resistor_smd:R_0603_1608_DensityHighR52, R53, R54
30R0_resistor_smd:R_0402_1005_DensityHighR4, R31, R32
30m5 1% 2W0_resistor_smd:HCS1206FTL500R12, R15, R18
3100n X7R 100V0_capacitor_smd:C_1206_3216_DensityHighestC95, C97, C99
310k 1%0_resistor_smd:R_0402_1005_DensityHighR7, R27, R33
31n X7R 1kV0_capacitor_smd:C_0603_1608_DensityHighC130, C131, C132
31n X7R 25V0_capacitor_smd:C_0402_1005_DensityHighC12, C13, C14
31u X7R 25V0_capacitor_smd:C_0603_1608_DensityHighC60, C88, C93
322R 1%0_resistor_smd:R_0402_1005_DensityHighR1, R2, R3
34u7 X7R 16V0_capacitor_smd:C_0603_1608_DensityHighC1, C84, C110
3M30_pad:MountingHole_3.2mm_M3_Pad_ViaH1, H2, H3
3PMV90ENER0_package_SOT_TO_SMD:SOT-23-3Q7, Q8, Q9
2+5V0_testpoint:TestPoint_Pad_D0.5mmTP46, TP47
2100n X7R 100V0_capacitor_smd:C_0603_1608_DensityHighC22, C92
210u X7R 25V0_capacitor_smd:C_0805_2012_DensityHighestC56, C106
215u X7R 25V0_capacitor_smd:C_1210_3225_DensityHighC30, C38
2220n X7S 100V0_capacitor_smd:C_0603_1608_DensityHighC23, C25
222u0_inductor_smd:L_Coilcraft_LPS4018L1, L2
222u X7R 10V0_capacitor_smd:C_0805_2012_DensityHighestC37, C83
260R4 1% 1/4W0_resistor_smd:R_0603_1608_DensityHighR50, R51
2CDSOT23-SM7120_package_SOT_TO_SMD:SOT95P230X110-3ND23, D27
2Nano-Fit 1x030_connectors:1054301203J12, J13
2PESD2CANFD24V-UX0_package_SOT_TO_SMD:SOT95P230X117-3ND24, D25
2PESD4USB3U-TBSX0_package_DFN_QFN:SOT1176DD18, D26
2PESD4USB5B-TBSX0_package_DFN_QFN:SOT1176DD16, D17
2S2B-PH-SM4-TB0_connectors:JST_PH_S2B-PH-SM4-TB_1x02-1MP_P2.00mm_HorizontalJ8, J9
2SMBJ51CD-M3/H0_diode_smd:DIOM4336X24ND1, D2
1+12V0_testpoint:TestPoint_Pad_D0.5mmTP45
1+A3V30_testpoint:TestPoint_Pad_D0.5mmTP51
1100n X7R 16V0_capacitor_smd:C_0402_1005_DensityHighC90
110R 1%0_resistor_smd:R_0603_1608_DensityHighR34
110n X7R 100V0_capacitor_smd:C_0402_1005_DensityHighC76
1150R 1% 1/5W0_resistor_smd:R_0402_1005_DensityHighR26
11u X7R 6.3V0_capacitor_smd:C_0402_1005_DensityHighC94
12u20_inductor_smd:L_Coilcraft_LPS3314L3
147k 1% NTC0_resistor_smd:R_0402_1005_DensityHighTH1
147n X7R 100V0_capacitor_smd:C_0603_1608_DensityHighC91
14k7 1%0_resistor_smd:R_0402_1005_DensityHighR30
14n7 X7R 100V0_capacitor_smd:C_0402_1005_DensityHighC129
14u7 X5R 25V0_capacitor_smd:C_0402_1005_DensityHighC7
19k09 1%0_resistor_smd:R_0402_1005_DensityHighR6
1AS5047P0_package_SO:SOP-14_4.4x5mm_P0.65mm_H1.2mmU7
1AS5048B0_package_SO:SOP-14_4.4x5mm_P0.65mm_H1.2mmU8
1AUX1_A0_testpoint:TestPoint_Pad_D0.5mmTP17
1AUX1_B0_testpoint:TestPoint_Pad_D0.5mmTP18
1AUX1_C0_testpoint:TestPoint_Pad_D0.5mmTP19
1AUX1_D0_testpoint:TestPoint_Pad_D0.5mmTP20
1AUX1_E0_testpoint:TestPoint_Pad_D0.5mmTP21
1AUX1_I2C_PULLUP0_testpoint:TestPoint_Pad_D0.5mmTP22
1AUX2_A0_testpoint:TestPoint_Pad_D0.5mmTP24
1AUX2_B0_testpoint:TestPoint_Pad_D0.5mmTP25
1AUX2_C0_testpoint:TestPoint_Pad_D0.5mmTP26
1AUX2_D0_testpoint:TestPoint_Pad_D0.5mmTP27
1AUX2_I2C_PULLUP0_testpoint:TestPoint_Pad_D0.5mmTP28
1CAS-220TA0_switch_button:CAS-220A_NDC-LSW1
1DGD0216WT-70_package_SOT_TO_SMD:SOT-23-5U11
1DRV8353FS0_package_DFN_QFN:WQFN-40-1EP_6x6mm_P0.5mm_EP4.15x4.15mm_ThermalViasU6
1DRV_CS0_testpoint:TestPoint_Pad_D0.5mmTP7
1DRV_MISO0_testpoint:TestPoint_Pad_D0.5mmTP5

The 317 most common of 414 parts.

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Questions

How big is the Amulet controller PCB?

It measures 69.7 × 76.7 mm and has 6 copper layers, 1.66 mm thick.

What parts does the Amulet controller use?

414 parts, built around the AS5047P-ATSM, AS5048B-HTSP-500, DRV8353FSRTAR and GRJ31CZ72A475KE01L. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.

Where can I download the Amulet controller KiCad files?

From the aidanbrzezinski/Prism-test repository on GitHub, at the commit this page was made from: the board is amulet_controller.kicad_pcb and its schematic Block Diagram.kicad_sch. PCBKit opens the board in the browser, with nothing to install.

Can I use the Amulet controller design in my own project?

Its repository states no licence, so its author keeps all rights: ask aidanbrzezinski before reusing the design.