moteus is an open source brushless servo actuator designed for use in highly dynamic robots.  It consists of PCB designs, software, and mechanical designs necessary to construct powerful brushless servos, and link them together into legged robots.  Today I’ve published the full source and designs for all of this work on github under an Apache 2.0 License - https://github.com/mjbots/moteus

These are the software and designs I have been developing in order to replace the actuators on Super Mega Microbot (which will probably get a new name shortly as well).  It isn’t done, but at least the controller is working well enough now that I have a pre-production verification run of ~30 controllers in flight.  Even still, I expect that further evolution, both on the controller board and in the mechanical systems is inevitable.