The Diamond Module: Controlled Motion

The Diamond module controls the DC motor actuator of the GEMS system. Control algorithm changes the PWM signal to the H-bridge based on a reference and measure value. The module measures DC motor speed and current. Reference value can be set using external analog signal (from e.g. potentiometer) or it can be communicated from another module. State of the motor control is displayed with three LEDs and control values can be shared with other modules.



  • 90mm x 40mm
  • 3.3V system
  • H-bridge for DC motor speed control
  • DC motor current measurement and overcurrent protection
  • Quadrature encoder input to measure DC motor speed
  • Limit switch input
  • 3 analog inputs
  • Status LEDs
  • ESP32 S3 microcontroller
  • USB-C connector
  • CAN bus
  • Button


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