# Gooser: a 4-in-1 Lepton derivative **URL:** https://community.simplefoc.com/t/gooser-a-4-in-1-lepton-derivative/5325 **Category:** hardware support **Created:** [August 15, 2024, 5:20am UTC](https://community.simplefoc.com/t/gooser-a-4-in-1-lepton-derivative/5325 "2024-08-15T05:20:56Z") **Posts on this page:** 1 **Showing post:** 104
### Author: ![dekutree64](https://community.simplefoc.com/user_avatar/community.simplefoc.com/dekutree64/32/3398_2.png) [@dekutree64](https://community.simplefoc.com/u/dekutree64) #### Post date: [June 28, 2026, 9:08pm UTC](https://community.simplefoc.com/t/gooser-a-4-in-1-lepton-derivative/5325/104 "2026-06-28T21:08:33Z")
Long time no update! I still haven’t tested the BSZ0500 mosfets, which may not be a good choice anyway since Mouser and DigiKey no longer stock them. But otherwise the single-motor hardware is verified good, and I would be very surprised if dual/quad have any surprises. There was one silkscreen error (TX and RX swapped on the programming connector) which I’ve corrected on EasyEDA, but remains in the previous post’s images since I can’t edit this long later, as well as a few minor edits to the schematic. I whipped up a single-motor version with CAN transceiver a while back, which involved sacrificing the ENC1 connector (typically not needed on single-motor anyway, and made room for one more pin on ENC0 so it has a complete SPI set). It’s currently unpublished but I can put it up if anyone wants it. I have no plans to test it myself, so you’ll be on your own. ![Gooser-v5p9-single-3D](https://community.simplefoc.com/uploads/default/original/2X/8/8113b713c808e27028d8e370932b5eedd81a66b3.png) I’ve completed the ADC code, which gives much better current sense than SimpleFOC’s built-in classes, and a flexible system for controlling the other channels. > **[Arduino-FOC-drivers/src/current\_sense/gooser5 at gooser5 ·...](https://github.com/dekutree64/Arduino-FOC-drivers/tree/gooser5/src/current_sense/gooser5)** > > gooser5/src/current\_sense/gooser5 And example code here [Arduino-FOC-drivers/examples/current\_sense/gooser5/gooser5.ino at gooser5 · dekutree64/Arduino-FOC-drivers · GitHub](https://github.com/dekutree64/Arduino-FOC-drivers/blob/gooser5/examples/current_sense/gooser5/gooser5.ino) If anyone would like to have a board for beta testing, send me a message. I’d appreciate if you can pay cost of materials, but I can eat the cost for a few single or dual motors if necessary. --- _[View the full topic](https://community.simplefoc.com/t/gooser-a-4-in-1-lepton-derivative/5325)._