Open Controllers: Landscape & Positioning

A high-level map of open gaming and robotics controllers, their designs, licenses, openness levels, and where they sit relative to commercial leaders.

1. Overview

Open controllers are the bridge between consumer gaming ergonomics and industrial/robotics requirements, enabled by fully documented hardware, firmware, and CAD.

Category Open, hackable controllers spanning gaming, CAD, and robotics – in contrast to closed Logitech/Sony pads and OEM teach pendants.
Key Differentiators Transparency, modifiability, ROS/fieldbus support, and 6‑DOF/gyro sensing alongside competitive latency.
Strategic Wedge Prosumer gamers and robotics developers who need more than a console pad but less cost/lock‑in than industrial pendants.

2. Controllers Landscape & Openness

The infographic below captures the levels of openness, examples of current designs, and positioning against closed gaming and industrial offerings.

Open Controllers: Market Landscape & Positioning Openness · Designs · Market position
Infographic summarizing openness levels, current open designs, and market positioning of open controllers.

Visual spectrum of controller openness (Fully Open → Closed/Hacked), sample open designs (GP2040‑CE, Alpakka, DIY SpaceMouse), and a 2×2 matrix positioning open controllers versus console OEMs and Logitech/Razer.

Levels of Openness (Conceptual Spectrum)

Openness spans from fully documented hardware and firmware to closed, reverse‑engineered devices.

  • Fully Open – HW schematics, PCB, firmware, CAD, and protocols are all published under OSH‑friendly licenses.
  • Mostly Open – Core design open, but some radios/sensors remain closed modules with public APIs.
  • Ecosystem‑Open – Closed hardware with open SDKs and HID documentation (typical premium gaming controllers).
  • Closed / Hacked – Proprietary consoles and pendants where community support depends on reverse engineering.

3. Comparative Table: Current Open Designs

The table below summarizes the most relevant open controller platforms across gaming, CAD/teleop, robotics, and motor control, including approximate BOM and price bands.

Project Domain Platform / MCU Openness & Licenses Approx. BOM Typical Price Best For
GP2040‑CE Gaming – Arcade/Fight RP2040 (Raspberry Pi Pico) Firmware open (GPL‑3.0)
Community PCBs (mixed licenses). 		$15–25 (populated control PCB, excl. case/buttons) $25–50 board; $80–200 complete stick Competitive fighting/arcade builds needing sub‑ms latency.
Alpakka (Input Labs) Gaming – Gyro/Accessibility RP2040 (Pico) + dual gyros HW+FW+CAD open
FW: GPL; CAD/PCB: CC‑type. 		≈€50–110 (~$55–120) DIY BOM ≈€80–150 DIY/kit FPS/gyro‑aim gamers, accessibility users, Linux/Steam Deck.
DIY SpaceMouse / Nebula CAD / 6‑DOF / Teleop Arduino / Teensy + IMU/magnets Fully open (per project)
MIT/GPL mix for FW & CAD. 		≈€20 (basic) → €100+ (advanced) $30–150 DIY CAD professionals and teleop researchers needing 6‑DOF input.
OpenCM9.04 (Robotis) Robotics – Servo controller STM32F103 (Cortex‑M3) HW+FW documented
Robotis open docs/e‑Manual. 		$15–30 (board) $25–40 retail Dynamixel‑based robots in research/education.
Arduino Pro Micro / Leonardo Gamepads DIY – Gaming/Macro ATmega32U4 Firmware open
Arduino + MIT Joystick library. 		$20–50 $25–80 kits/boards Custom layouts, prototyping, education.
Moteus BLDC Controller (mjbots) Robotics – Motor control STM32G4 (Cortex‑M4F) HW+FW open (Apache‑2.0) $60–100 (board + sensors) $150–200 Quadrupeds and dynamic joint‑level control over CAN‑FD.

BOM figures assume small‑batch sourcing; prices tighten at higher volumes and increase with more polished enclosures and wireless modules.

4. Open Design Profiles & Shared Assets

Each design below includes domain, performance and cost bands, licensing, and an explicit view of what is and is not shared (firmware, PCB, CAD, BOM, and protocol documentation).

🎮 GP2040‑CE – Multi‑Platform Arcade/Fight Firmware

Gaming Firmware open

RP2040‑based firmware providing ultra‑low‑latency, multi‑platform support for fight sticks, leverless hitboxes, and arcade panels.

Platform RP2040 (Raspberry Pi Pico)
BOM Cost (board) $15–25 including RP2040 and connectors.
Typical Price $25–50 PCB; $80–200 complete stick.
Latency ≈0.76 ms average (wired).
Licenses Firmware: GPL‑3.0; board licenses vary by vendor.
Integration USB HID; ROS via joy_node.

Pros

  • Ultra‑low latency tuned for competitive fighting games.
  • Mature firmware with web‑based configuration UI.
  • Large community and broad board support ecosystem.
  • Very low incremental BOM for makers and vendors.

Cons

  • Primary focus is digital inputs (arcade buttons/leverless).
  • No native ROS/fieldbus protocol beyond HID.
  • Hardware openness depends on each board vendor.

What’s Shared vs Not

Key Links

  • [nav_link:GP2040‑CE] – main firmware and documentation.

🎮 Alpakka – Open Gyro‑to‑Mouse Controller

Gaming / Accessibility HW+FW+CAD open

Fully open, 3D‑printable gyro controller built on RP2040, designed to deliver mouse‑competitive gyro aiming and rich accessibility features.

Platform RP2040 (Pico) + dual gyroscopes.
BOM Cost ≈€50–110 (~$55–120) depending on region and options.
Typical Price ≈€80–150 DIY build or kit.
Polling / Latency 250 Hz default; up to 1000 Hz in mods.
Licenses FW: GPL; PCB/CAD: CC‑style OSH licenses.
Connectivity USB wired; optional custom 2.4 GHz wireless.

Pros

  • Mouse‑competitive gyro aiming with open tuning tools.
  • Full stack openness – firmware, PCB, and CAD shared.
  • Strong Linux/Steam Deck support and accessibility focus.
  • Good documentation (manual, firmware dev guide).

Cons

  • Build requires fine‑pitch soldering and 3D‑printing.
  • Wireless is optional and adds BOM and complexity.
  • No native ROS/teleop stack beyond HID.
  • Total cost can approach premium closed controllers.

What’s Shared vs Not

Key Links

  • [nav_link:Input Labs – Alpakka] – product and manual.
  • [nav_link:alpakka_firmware] – firmware repository.
  • [nav_link:alpakka_pcb] – PCB design repository.
  • [nav_link:inputlabs/cad] – enclosure CAD files.

🤖 DIY SpaceMouse / Nebula‑Class 6‑DOF Controllers

CAD / Teleop Fully open (per project)

Community‑built 6‑DOF input devices emulating 3Dconnexion SpaceMouse behavior, using IMUs, magnets, and 3D‑printed mechanisms – ideal for CAD and experimental teleoperation.

Platform Arduino/Teensy (various MCUs) + IMU/magnetometer.
BOM Cost ≈€20 (basic) to €100+ (advanced metal/PCBs).
Typical Price DIY only – roughly $30–150 per build.
Licenses MIT/GPL/open CAD depending on project.
Integration USB HID emulating 3D mice; ROS via custom mappings.

Pros

  • True 6‑DOF input at a fraction of commercial SpaceMouse cost.
  • Fully open mechanical and electrical designs.
  • Excellent foundation for robotic arm teleoperation.
  • Highly customizable geometry and feel.

Cons

  • Quality heavily depends on builder skill and sourcing.
  • One‑off builds can end up near commercial pricing.
  • No standard ROS stack; HID → robot mapping is custom.
  • No force feedback or industrial safety features.

What’s Shared vs Not

Key Links

  • [nav_link:DIY SpaceMouse projects on All3DP] – curated list of open 3D mouse designs.

🤖 OpenCM9.04 – Open Dynamixel Controller (Robotis)

Robotics HW+FW documented

STM32‑based controller for Dynamixel servos with open docs and ROS examples; a building block for robots rather than a handheld controller.

Platform STM32F103 (Cortex‑M3) + TTL/RS‑485.
BOM & Price ≈$15–30 BOM, ~$25–40 retail.
Licenses Robotis open docs; examples under OSS licenses.
Integration Native Dynamixel protocol; ROS integration available.

What’s Shared vs Not

Key Links

  • [nav_link:OpenCM9.04 e‑Manual] – official documentation and examples.

🎮 Arduino Pro Micro / Leonardo DIY Gamepads

DIY / Education Firmware open

Simple Arduino‑based USB HID controllers used for macro pads, custom gamepads, and rapid experimentation.

Platform ATmega32U4 (Pro Micro / Leonardo).
BOM & Price $20–50 BOM; $25–80 kits.
Licenses Arduino core; Joystick library MIT‑licensed.
Integration Standard USB HID, ROS via joy_node.

What’s Shared vs Not

Key Links

  • [nav_link:Arduino Joystick Library] – turn Pro Micro into a USB gamepad.

🤖 Moteus BLDC Controller (mjbots)

Motor Control HW+FW open

High‑performance BLDC motor controller for legged robots and dynamic mechanisms, with fully open hardware and firmware and CAN‑FD fieldbus.

Platform STM32G4 (Cortex‑M4F, 170 MHz).
BOM & Price $60–100 BOM; $150–200 retail.
Control Loop <1 ms joint‑level control.
Licenses Apache‑2.0 for hardware and firmware.
Integration CAN‑FD fieldbus; ROS via CAN bridge.

What’s Shared vs Not

Key Links

  • [nav_link:Moteus GitHub] – open hardware/firmware for BLDC control.

5. Strategic Positioning & Opportunity

Existing open controllers demonstrate clear demand, but each design is anchored in either gaming or robotics rather than spanning both with a unified, open stack.

Where Today’s Designs Sit

  • GP2040‑CE and Alpakka are open, gaming‑first designs with excellent latency and UX but no native ROS/industrial stack.
  • DIY SpaceMouse and related 6‑DOF projects are open mechanical + HID layers tuned for CAD and experimental teleop.
  • OpenCM9.04 and Moteus are open robotics building blocks, focused on servo and joint control, not on handheld operator input.

Opportunity for a New “Open Teleop Controller” Platform

  • Combine GP2040‑class latency, Alpakka‑class gyro/inputs, and SpaceMouse‑class 6‑DOF into one hardware platform.
  • Deliver full‑stack openness (HW+FW+CAD+protocol), with explicit ROS 2, CAN‑FD, and HID support.
  • Price at $150–250 for prosumer gaming and $200–400 for robotics/teleop, undercutting industrial teach pendants.
  • Monetize via hardware, premium support, integration work, and an ecosystem of accessories and cloud services.