Closed-loop FOC with Klipper - Ouroboros Servo Controller

Ouroboros: https://store.isiks.tech/products/ouroboros Ouroboros Docs: https://docs.isiks.tech/Ouroboros/wiring/ TMC4671 Klipper Plugin: https://github.com/andrewmcgr/tmc-4671 Monolith Gantry used for the demo. More info: https://github.com/Monolith3D/Monolith_Gantry ---------------------------------------------------- PCB Store: https://store.isiks.tech/ ---------------------------------------------------- Support me on: GitHub Sponsorships: https://l.isiks.tech/GHSponsor (one time or monthly) Patreon: https://l.isiks.tech/Patreon YouTube Memberships: https://l.isiks.tech/Member ---------------------------------------------------- Join the Isik's Tech Discord Server: https://l.isiks.tech/Discord ---------------------------------------------------- Find me here: Twitter: https://l.isiks.tech/Twitter Patreon: https://l.isiks.tech/Patreon GitHub: https://l.isiks.tech/GitHub Thingiverse: https://l.isiks.tech/Thingiverse Amazon Page (Tools I like): https://l.isiks.tech/Amazon Polymaker Affiliate: https://us.polymaker.com?aff=147 ---------------------------------------------------- Chapters: 0:00 Intro 0:30 Closed-Loop 1:21 Field Oriented Control (FOC) 3:04 Demo at RMRRF 2025 3:39 Test Gantry 4:13 Motor Noise Test 5:33 15K Acceleration 6:20 250K Acceleration 6:50 Print Photos & Real World Acceleration Info 7:35 TMC4671 & Klipper 10:54 Ouroboros PCB 13:53 Ouroboros Docs 14:09 TMC4671 Klipper Plugin 14:40 Ouroboros & Motor Availability ---------------------------------------------------- There are affiliate (or Amazon Associate) links above. I earn a commission on qualifying purchases.