Tinymovr r2 PCBs have recently arrived from China. In the meantime I've been improving the firmware, and at the present motor control (position, velocity and current) as well as CAN Bus and UART connectivity are fully functional.

Below is Tinymovr R2 next to a one Euro coin and a 4108 motor for size comparison.

New motor testing bed with UART, CAN Bus connections and oscilloscope probes.

As mentioned previously, this board revision replaces the AS5047 encoder for the MA730, which comes at a significantly lower cost. In addition, the power stage includes larger shunt resistors and 2oz copper traces, allowing a max calculated current of 30A continuous (with proper mosfet cooling).

Stay tuned for more videos of the board in action!