Looking for PCB designer/programmer on a motor controller project

I’m looking everywhere to get a PCB designed+coded, and thought of y’all coz I use platformio in the Makelangelo polargraph robot firmware. I figure a lot of the right talent hangs out here, yes?

I’ve made many robots over the last decade. I’m currently trying to make a harmonic gearbox + stepper motor combo (think big big servo) that can be daisy-chained. The goal being to make one servo and repeat it 6 times to build an arm.

Most DIY motor controllers use an on-axis sensor like the AS5147. Great device, inconvenient placement. I need a pass-through for wiring so all the cables can be sealed in the shell of the arm.

That means a sensor that has a through-hole. I found the IPS2200 on digikey.
That means comms that daisy-chain, too. CANbus seems a natural fit and many STSTM support it. In a perfect world the first unit in the chain is software-flagged as master.

Here’s more about the requirements.

Open to other ideas, approaches, discussion. This is, of course, a paid gig.
I’m aware it could take a couple of months to get it right.

Hi Dan,
If you are still on the lookout for some help I would be glad to help you out, as what you are wanting done is well within my area of expertise.
You can reach me on andrewjohnson.56782@gmail.com
Cheers and Have a great Sunday,

Thank you. I believe I have found someone for the job but if it doesn’t work out I will be back.