ODESC V4.2 Brushless Servo Motor Controller

Datasheet (Firmware: ODrive v3.6):
ODrive v3.6 Datasheet

Features:
Microprocessor: STM32F405RGT6
Power: 8V-24V DC input; 70A continuous / 120A peak current
Control Modes: Position, Velocity, Torque, Current, and Trajectory Planning
Encoder Support: Hall sensors, Incremental (AB/ABI), Absolute (SPI), and AMT102/103
Interfaces: USB-C, CAN, UART (ASCII), PWM, Step/Direction, and Analog Input
Thermal Design: Integrated aluminum heat sink with high-current open skylight PCB design
Compatibility: Software configuration compatible with ODriveTool, ROS, and Arduino

Connection:
DC - to 24V battery - (GND)
DC + to 24V battery + (POWER)
A to motor’s 16AWG Green wire
B to motor’s 16AWG Blue wire
C to motor’s 16AWG Yellow wire
Hall to motor’s Hall sensor

Interfacing:
USB-C to Jetson USB

Dimensions:
63*58*30mm / 2.5*2.3*1.2 inches

Use-Case:
Provides high-performance Field Oriented Control (FOC) for brushless motors, enabling precise motion control and obstacle avoidance integration within the Nav2 stack.