2024-11-24 - Yet Another Linear Servo

recently had some time off and decided to push forward one of my pet-projects: YALS. TL;DR recently i needed a good linear servo for another project. some key aspects were:

• non-backdriveable (so that it does not consume current when not moving)
• digital controlled with feedback (controllable from host, with telemetry, etc.)
• big throw (here: 100mm)
• ease of adding magnetic coupling (if needed)

this was an interesting experience as it was the 1st time i've designed RP2040-based HW platform and wrote a bigger piece of code for it (~5KLOC). on top of that it also used a cheap SBC for programming remotely (over WiFi), to make sure that high-current 12V power supply won't by accident backfire over 5V TTL logic wires to a PC. it was also an interesting experience to unbrick CPU from watchdog reset loop.

after ~week of full-throttle fun, the project has now reached v0.3 with all key elements working and tested! :D

the only exception atm is EEPROM, that for some magic reason seems to get stuck when writing (failed batch?). that will require some more investigations, but fortunately it's not crucial for functioning of the servo.