espFoC is a simple implementation of voltage mode, vector controller intended to be used with permanent-magnet synchronous motors (PMSM), and general brushless motors. This component was developed to be used with the ESP-IDF espressif framework.
- Voltage mode control, control a PMSM like a DC motor!;
- Position and Speed closed-loop control;
- Single-precision Floating point implementation;
- Sample inverter driver based on esp32 LEDC PWM (easy to wire!);
- Sample rotor position driver based on as5600 encoder (very popular!);
- FoC engine runs sychronized at inverter PWM rate;
- Scope function for debugging using Better Serial Plot
- Support for esp32 and esp32s3 only;
- Requires and rotor position sensor, for example, incremental encoder.
- Just clone this project on most convenient folder;
- Inside of your IDF project CMakeLists.txt set or add the path of this component to EXTRA_COMPONENT_DIRS for example:
set(EXTRA_COMPONENT_DIRS "path/to/this/component/") - For batteries included getting started, refer the examples folder.
- Inside of any of examples just build:
$ idf.py build flash
- espFoC is intended to run on ESP32 board plus a motor driver;
- The current driver supports 3-PWM output suited to: L6230, DRV83xx and others;
- The suggested wiring for quick get started is shown below:
- Install Better Serial Plot from here: https://hackaday.io/project/181686-better-serial-plotter
- In menuconfing enable the option:
CONFIG_ESP_FOC_SCOPE - Download the firmware for your target board;
- Open the Better Serial Port and select the port and baud rate of your board;
- The data should arrive automatically.
If you find some trouble, open an issue, and if you are enjoying the project give it a star or submir a PR. Also, you can try reaching me at: ryukokki.felipe@gmail.com