What is T-STorM32?

T-STorM32 is the encoder version of the STorM32 gimbal controller (T stands for Thunder, so Thunder-STorM32).

T-STorM32's encoder support builds on the NT concept, and especially on the possibility of connecting specialized NT Motor modules to the NT bus. T-STorM32 achieves its goals by using NT Motor modules which also include encoders, i.e., NT Motor-Encoder modules.

The concept thus consists of a main STorM32 controller board and NT Motor-Encoder modules, one for each axis. The motor drivers on the v4.1 STorM32 main board cannot be used for T-STorM32, and it is also not possible to connect encoders directly to the STorM32 main board. The NT Motor-Encoder modules are connected to the NT bus, and also to battery power. Thus, the NTX bus has been introduced, which carries both the NT bus signals and the battery power lines.

A typical wiring scheme can thus looks as this:

For mounting NT Motor-Encoder modules and encoders, two styles are supported: First, the encoder chip could be soldered onto the NT Motor-Encoder module itself. Alternatively, the encoder chip can be externally installed, in which case the encoder has to be connected via SPI to the NT Motor-Encoder module. The common encoders are the TLE5012B or AS5048A encoders. Also resistive rotary encoders (potentiometers) are supported, but this is mostly for specialized applications. The two mounting styles are shown in this sketch:

The magnetic rotary encoders require in addition a magnet mounted to the gimbal motor, which needs to be a diametrically magnetized ring magnet (as opposed to the more common radially magnetized ring magnets, which cannot be used).