The Janus Controller is a Brushless motor driver with an on-board magnetic encoder, a three-phase MOSFET driver, three MOSFET half-bridges, a temperature sensor and current sensing resistors.

Source code for paper "Safe, Efficient, and Comfortable Velocity Control based on Reinforcement Learning for Autonomous Driving"

Experimental velocity control based on a simple PID controller.

(improved by ur_modern_driver) ROS 1 driver which added gripper and Cartesian velocity control interface for UR5 or UR10 robots.