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MotionModule Mini

Mini has 4 motor outputs on 2 dual H-bridge boards, 16 servo outputs on one PCA9685, and the same Pi-connected MPU6500 IMU as the full module. It runs the same shared runtime, robot API, watchdog, dashboard and Driver Station. Only the hardware profile and build references differ.

Complete Mini wiring: two drivers, four motors, PCA9685 and IMU

Install and try

On an installed Pi:

motionmodule install main --variant mini

From a repository checkout on a fresh Pi:

bash install.sh --version main --variant mini

The installer starts the MecanumMini sample for a Mini install. The sample's robot, autonomous, sensor and dashboard code is identical to the full Mecanum sample; its hardware definition includes only wheel channels 1–4. Existing robot folders are kept. For custom code, copy the Mini hardware definition into your robot folder, retain channels 1–4 and rename outputs for your mechanisms. Motor direction is changed with inverted, never by moving pins.

The installed Mini limit persists across updates and project changes. The existing hardware file is preserved; channels 5–8 are omitted from the runtime map on Mini. Code requesting those motors gets an unavailable-output error. Debug and the motor activity display show four outputs; servo and IMU behavior stays the same. Switching back to full MotionModule restores ports 5–8 on their locked pins in memory, even when the active project is MecanumMini. Debug, the 40-pin header, and individual motor tests then show all eight ports on four drivers. The four wheel names, inversion settings, servo configuration and robot files are kept.

To run the simulated Mini dashboard on Windows:

$env:MOTIONMODULE_VARIANT = "mini"
python -m motion_module.demo --no-browser

On Linux/macOS:

MOTIONMODULE_VARIANT=mini python -m motion_module.demo --no-browser

Switching builds

Updates shows both the installed module and its main/testing branch. Choose MotionModule or MotionModule Mini, then install the desired branch. A module change keeps the same active robot project and files, saves a pre-update code snapshot in ~/MotionModule/backups, and reboots using the selected hardware limit.

The full module's enclosure STEP model and 22-M3-screw count describe the full assembly. Mini-specific enclosure CAD and its final mounting screw total have not been supplied. The Mini wiring diagram is a schematic, not enclosure CAD.