try to fix submodule

firmware/lib/Arduino-FOC/examples/motion_control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino

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+// Open loop motor control example
+ #include <SimpleFOC.h>
+
+
+// BLDC motor & driver instance
+// BLDCMotor motor = BLDCMotor(pole pair number);
+BLDCMotor motor = BLDCMotor(11);
+// BLDCDriver3PWM driver = BLDCDriver3PWM(pwmA, pwmB, pwmC, Enable(optional));
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+
+// Stepper motor & driver instance
+//StepperMotor motor = StepperMotor(50);
+//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
+
+//target variable
+float target_position = 0;
+
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_position, cmd); }
+void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); }
+void doVelocity(char* cmd) { command.scalar(&motor.velocity_limit, cmd); }
+
+void setup() {
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  // limit the maximal dc voltage the driver can set
+  // as a protection measure for the low-resistance motors
+  // this value is fixed on startup
+  driver.voltage_limit = 6;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // limiting motor movements
+  // limit the voltage to be set to the motor
+  // start very low for high resistance motors
+  // currnet = resistance*voltage, so try to be well under 1Amp
+  motor.voltage_limit = 3;   // [V]
+  // limit/set the velocity of the transition in between 
+  // target angles
+  motor.velocity_limit = 5; // [rad/s] cca 50rpm
+  // open loop control config
+  motor.controller = MotionControlType::angle_openloop;
+
+  // init motor hardware
+  motor.init();
+
+  // add target command T
+  command.add('T', doTarget, "target angle");
+  command.add('L', doLimit, "voltage limit");
+  command.add('V', doLimit, "movement velocity");
+
+  Serial.begin(115200);
+  Serial.println("Motor ready!");
+  Serial.println("Set target position [rad]");
+  _delay(1000);
+}
+
+void loop() {
+  // open  loop angle movements
+  // using motor.voltage_limit and motor.velocity_limit
+  // angles can be positive or negative, negative angles correspond to opposite motor direction
+  motor.move(target_position);
+  
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/motion_control/open_loop_motor_control/open_loop_velocity_example/open_loop_velocity_example.ino

@@ -0,0 +1,68 @@
+// Open loop motor control example
+#include <SimpleFOC.h>
+
+
+// BLDC motor & driver instance
+// BLDCMotor motor = BLDCMotor(pole pair number);
+BLDCMotor motor = BLDCMotor(11);
+// BLDCDriver3PWM driver = BLDCDriver3PWM(pwmA, pwmB, pwmC, Enable(optional));
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+
+// Stepper motor & driver instance
+//StepperMotor motor = StepperMotor(50);
+//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
+
+
+//target variable
+float target_velocity = 0;
+
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
+void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); }
+
+void setup() {
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  // limit the maximal dc voltage the driver can set
+  // as a protection measure for the low-resistance motors
+  // this value is fixed on startup
+  driver.voltage_limit = 6;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // limiting motor movements
+  // limit the voltage to be set to the motor
+  // start very low for high resistance motors
+  // current = voltage / resistance, so try to be well under 1Amp
+  motor.voltage_limit = 3;   // [V]
+ 
+  // open loop control config
+  motor.controller = MotionControlType::velocity_openloop;
+
+  // init motor hardware
+  motor.init();
+
+  // add target command T
+  command.add('T', doTarget, "target velocity");
+  command.add('L', doLimit, "voltage limit");
+
+  Serial.begin(115200);
+  Serial.println("Motor ready!");
+  Serial.println("Set target velocity [rad/s]");
+  _delay(1000);
+}
+
+void loop() {
+
+  // open loop velocity movement
+  // using motor.voltage_limit and motor.velocity_limit
+  // to turn the motor "backwards", just set a negative target_velocity
+  motor.move(target_velocity);
+
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/motion_control/position_motion_control/encoder/angle_control/angle_control.ino

@@ -0,0 +1,129 @@
+/**
+ *
+ * Position/angle motion control example
+ * Steps:
+ * 1) Configure the motor and encoder
+ * 2) Run the code
+ * 3) Set the target angle (in radians) from serial terminal
+ *
+ *
+ * NOTE :
+ * > Arduino UNO example code for running velocity motion control using an encoder with index significantly
+ * > Since Arduino UNO doesn't have enough interrupt pins we have to use software interrupt library PciManager.
+ *
+ * > If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins
+ * > you can supply doIndex directly to the encoder.enableInterrupts(doA,doB,doIndex) and avoid using PciManger
+ *
+ * > If you don't want to use index pin initialize the encoder class without index pin number:
+ * > For example:
+ * > - Encoder encoder = Encoder(2, 3, 8192);
+ * > and initialize interrupts like this:
+ * > - encoder.enableInterrupts(doA,doB)
+ *
+ * Check the docs.simplefoc.com for more info about the possible encoder configuration.
+ *
+ */
+#include <SimpleFOC.h>
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+// Stepper motor & driver instance
+//StepperMotor motor = StepperMotor(50);
+//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
+
+// encoder instance
+Encoder encoder = Encoder(2, 3, 8192);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+// angle set point variable
+float target_angle = 0;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
+
+void setup() {
+
+  // initialize encoder sensor hardware
+  encoder.init();
+  encoder.enableInterrupts(doA, doB);
+  // link the motor to the sensor
+  motor.linkSensor(&encoder);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // aligning voltage [V]
+  motor.voltage_sensor_align = 3;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::angle;
+
+  // contoller configuration
+  // default parameters in defaults.h
+
+  // velocity PI controller parameters
+  motor.PID_velocity.P = 0.2f;
+  motor.PID_velocity.I = 20;
+  motor.PID_velocity.D = 0;
+  // default voltage_power_supply
+  motor.voltage_limit = 6;
+  // jerk control using voltage voltage ramp
+  // default value is 300 volts per sec  ~ 0.3V per millisecond
+  motor.PID_velocity.output_ramp = 1000;
+
+  // velocity low pass filtering time constant
+  motor.LPF_velocity.Tf = 0.01f;
+
+  // angle P controller
+  motor.P_angle.P = 20;
+  //  maximal velocity of the position control
+  motor.velocity_limit = 4;
+
+
+  // use monitoring with serial
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align encoder and start FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target angle");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target angle using serial terminal:"));
+  _delay(1000);
+}
+
+void loop() {
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move(target_angle);
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  // motor.monitor();
+
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/motion_control/position_motion_control/hall_sensor/angle_control/angle_control.ino

@@ -0,0 +1,133 @@
+/**
+ *
+ * Position/angle motion control example
+ * Steps:
+ * 1) Configure the motor and hall sensor
+ * 2) Run the code
+ * 3) Set the target angle (in radians) from serial terminal
+ *
+ *
+ * NOTE :
+ * > This is for Arduino UNO example code for running angle motion control specifically
+ * > Since Arduino UNO doesn't have enough interrupt pins we have to use software interrupt library PciManager.
+ *
+ * > If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins
+ * > you can supply doIndex directly to the sensr.enableInterrupts(doA,doB,doC) and avoid using PciManger
+ *
+ *
+ */
+#include <SimpleFOC.h>
+// software interrupt library
+#include <PciManager.h>
+#include <PciListenerImp.h>
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+// Stepper motor & driver instance
+//StepperMotor motor = StepperMotor(50);
+//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
+
+// hall sensor instance
+HallSensor sensor = HallSensor(2, 3, 4, 11);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){sensor.handleA();}
+void doB(){sensor.handleB();}
+void doC(){sensor.handleC();}
+// If no available hadware interrupt pins use the software interrupt
+PciListenerImp listenC(sensor.pinC, doC);
+
+// angle set point variable
+float target_angle = 0;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
+
+void setup() {
+
+  // initialize sensor hardware
+  sensor.init();
+  sensor.enableInterrupts(doA, doB); //, doC);
+  // software interrupts
+  PciManager.registerListener(&listenC);
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+
+  // aligning voltage [V]
+  motor.voltage_sensor_align = 3;
+  // index search velocity [rad/s]
+  motor.velocity_index_search = 3;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::angle;
+
+  // contoller configuration
+  // default parameters in defaults.h
+
+  // velocity PI controller parameters
+  motor.PID_velocity.P = 0.2f;
+  motor.PID_velocity.I = 2;
+  motor.PID_velocity.D = 0;
+  // default voltage_power_supply
+  motor.voltage_limit = 6;
+  // jerk control using voltage voltage ramp
+  // default value is 300 volts per sec  ~ 0.3V per millisecond
+  motor.PID_velocity.output_ramp = 1000;
+
+  // velocity low pass filtering time constant
+  motor.LPF_velocity.Tf = 0.01f;
+
+  // angle P controller
+  motor.P_angle.P = 20;
+  //  maximal velocity of the position control
+  motor.velocity_limit = 4;
+
+
+  // use monitoring with serial
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align sensor and start FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target angle");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target angle using serial terminal:"));
+  _delay(1000);
+}
+
+void loop() {
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move(target_angle);
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  // motor.monitor();
+
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/motion_control/position_motion_control/magnetic_sensor/angle_control/angle_control.ino

@@ -0,0 +1,112 @@
+/**
+ *
+ * Position/angle motion control example
+ * Steps:
+ * 1) Configure the motor and magnetic sensor
+ * 2) Run the code
+ * 3) Set the target angle (in radians) from serial terminal
+ *
+ */
+#include <SimpleFOC.h>
+
+// magnetic sensor instance - SPI
+MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 10);
+// magnetic sensor instance - MagneticSensorI2C
+//MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
+// magnetic sensor instance - analog output
+// MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+// Stepper motor & driver instance
+//StepperMotor motor = StepperMotor(50);
+//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
+
+// angle set point variable
+float target_angle = 0;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
+
+void setup() {
+
+  // initialise magnetic sensor hardware
+  sensor.init();
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // choose FOC modulation (optional)
+  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::angle;
+
+  // contoller configuration
+  // default parameters in defaults.h
+
+  // velocity PI controller parameters
+  motor.PID_velocity.P = 0.2f;
+  motor.PID_velocity.I = 20;
+  motor.PID_velocity.D = 0;
+  // maximal voltage to be set to the motor
+  motor.voltage_limit = 6;
+
+  // velocity low pass filtering time constant
+  // the lower the less filtered
+  motor.LPF_velocity.Tf = 0.01f;
+
+  // angle P controller
+  motor.P_angle.P = 20;
+  // maximal velocity of the position control
+  motor.velocity_limit = 20;
+
+  // use monitoring with serial
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+
+  // initialize motor
+  motor.init();
+  // align sensor and start FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target angle");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target angle using serial terminal:"));
+  _delay(1000);
+}
+
+
+void loop() {
+
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move(target_angle);
+
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  // motor.monitor();
+
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/motion_control/torque_control/encoder/current_control/current_control.ino

@@ -0,0 +1,107 @@
+/**
+ *
+ * Torque control example using current control loop.
+ *
+ */
+#include <SimpleFOC.h>
+
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+
+// encoder instance
+Encoder encoder = Encoder(2, 3, 500);
+// channel A and B callbacks
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+// current sensor
+InlineCurrentSense current_sense = InlineCurrentSense(0.01f, 50.0f, A0, A2);
+
+// current set point variable
+float target_current = 0;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_current, cmd); }
+
+void setup() {
+
+  // initialize encoder sensor hardware
+  encoder.init();
+  encoder.enableInterrupts(doA, doB);
+  // link the motor to the sensor
+  motor.linkSensor(&encoder);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link driver
+  motor.linkDriver(&driver);
+  // link current sense and the driver
+  current_sense.linkDriver(&driver);
+
+  // current sense init hardware
+  current_sense.init();
+  // link the current sense to the motor
+  motor.linkCurrentSense(&current_sense);
+
+  // set torque mode:
+  // TorqueControlType::dc_current
+  // TorqueControlType::voltage
+  // TorqueControlType::foc_current
+  motor.torque_controller = TorqueControlType::foc_current;
+  // set motion control loop to be used
+  motor.controller = MotionControlType::torque;
+
+  // foc currnet control parameters (Arduino UNO/Mega)
+  motor.PID_current_q.P = 5;
+  motor.PID_current_q.I= 300;
+  motor.PID_current_d.P= 5;
+  motor.PID_current_d.I = 300;
+  motor.LPF_current_q.Tf = 0.01f;
+  motor.LPF_current_d.Tf = 0.01f;
+  // foc currnet control parameters (stm/esp/due/teensy)
+  // motor.PID_current_q.P = 5;
+  // motor.PID_current_q.I= 1000;
+  // motor.PID_current_d.P= 5;
+  // motor.PID_current_d.I = 1000;
+  // motor.LPF_current_q.Tf = 0.002f; // 1ms default
+  // motor.LPF_current_d.Tf = 0.002f; // 1ms default
+
+  // use monitoring with serial
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align sensor and start FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target current");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target current using serial terminal:"));
+  _delay(1000);
+}
+
+void loop() {
+
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or torque (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move(target_current);
+
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/motion_control/torque_control/encoder/voltage_control/voltage_control.ino

@@ -0,0 +1,92 @@
+/**
+ * 
+ * Torque control example using voltage control loop.
+ * 
+ * Most of the low-end BLDC driver boards doesn't have current measurement therefore SimpleFOC offers 
+ * you a way to control motor torque by setting the voltage to the motor instead hte current. 
+ * 
+ * This makes the BLDC motor effectively a DC motor, and you can use it in a same way.
+ */
+#include <SimpleFOC.h>
+
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+// Stepper motor & driver instance
+//StepperMotor motor = StepperMotor(50);
+//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
+
+// encoder instance
+Encoder encoder = Encoder(2, 3, 8192);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+// voltage set point variable
+float target_voltage = 2;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
+
+void setup() { 
+  
+  // initialize encoder sensor hardware
+  encoder.init();
+  encoder.enableInterrupts(doA, doB); 
+  // link the motor to the sensor
+  motor.linkSensor(&encoder);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link driver
+  motor.linkDriver(&driver);
+
+
+  // aligning voltage
+  motor.voltage_sensor_align = 5;
+  // choose FOC modulation (optional)
+  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::torque;
+
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align sensor and start FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target voltage");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target voltage using serial terminal:"));
+  _delay(1000);
+}
+
+void loop() {
+
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz 
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move(target_voltage);
+
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/motion_control/torque_control/hall_sensor/voltage_control/voltage_control.ino

@@ -0,0 +1,95 @@
+/**
+ * 
+ * Torque control example using voltage control loop.
+ * 
+ * Most of the low-end BLDC driver boards doesn't have current measurement therefore SimpleFOC offers 
+ * you a way to control motor torque by setting the voltage to the motor instead of the current. 
+ * 
+ * This makes the BLDC motor effectively a DC motor, and you can use it in a same way.
+ */
+#include <SimpleFOC.h>
+
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+// Stepper motor & driver instance
+//StepperMotor motor = StepperMotor(50);
+//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
+
+// hall sensor instance
+HallSensor sensor = HallSensor(2, 3, 4, 11);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){sensor.handleA();}
+void doB(){sensor.handleB();}
+void doC(){sensor.handleC();}
+
+
+// voltage set point variable
+float target_voltage = 2;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
+
+void setup() { 
+  
+  // initialize encoder sensor hardware
+  sensor.init();
+  sensor.enableInterrupts(doA, doB, doC); 
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link driver
+  motor.linkDriver(&driver);
+
+  // aligning voltage
+  motor.voltage_sensor_align = 3;
+  
+  // choose FOC modulation (optional)
+  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::torque;
+
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align sensor and start FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target voltage");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target voltage using serial terminal:"));
+  _delay(1000);
+}
+
+
+void loop() {
+
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz 
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move(target_voltage);
+
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/motion_control/torque_control/magnetic_sensor/voltage_control/voltage_control.ino

@@ -0,0 +1,84 @@
+/**
+ * Torque control example using voltage control loop.
+ * 
+ * Most of the low-end BLDC driver boards doesn't have current measurement therefore SimpleFOC offers 
+ * you a way to control motor torque by setting the voltage to the motor instead hte current. 
+ * 
+ * This makes the BLDC motor effectively a DC motor, and you can use it in a same way.
+ */
+#include <SimpleFOC.h>
+
+// magnetic sensor instance - SPI
+MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 10);
+// magnetic sensor instance - I2C
+// MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
+// magnetic sensor instance - analog output
+// MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+// Stepper motor & driver instance
+//StepperMotor motor = StepperMotor(50);
+//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
+
+// voltage set point variable
+float target_voltage = 2;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
+
+void setup() {
+
+  // initialise magnetic sensor hardware
+  sensor.init();
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+
+  // power supply voltage
+  driver.voltage_power_supply = 12;
+  driver.init();
+  motor.linkDriver(&driver);
+
+  // aligning voltage 
+  motor.voltage_sensor_align = 5;
+  // choose FOC modulation (optional)
+  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
+  // set motion control loop to be used
+  motor.controller = MotionControlType::torque;
+
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align sensor and start FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target voltage");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target voltage using serial terminal:"));
+  _delay(1000);
+}
+
+void loop() {
+
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz 
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move(target_voltage);
+  
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/motion_control/velocity_motion_control/encoder/velocity_control/velocity_control.ino

@@ -0,0 +1,137 @@
+/**
+ *
+ * Velocity motion control example
+ * Steps:
+ * 1) Configure the motor and encoder
+ * 2) Run the code
+ * 3) Set the target velocity (in radians per second) from serial terminal
+ *
+ *
+ *
+ * NOTE :
+ * > Arduino UNO example code for running velocity motion control using an encoder with index significantly
+ * > Since Arduino UNO doesn't have enough interrupt pins we have to use software interrupt library PciManager.
+ *
+ * > If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins
+ * > you can supply doIndex directly to the encoder.enableInterrupts(doA,doB,doIndex) and avoid using PciManger
+ *
+ * > If you don't want to use index pin initialize the encoder class without index pin number:
+ * > For example:
+ * > - Encoder encoder = Encoder(2, 3, 8192);
+ * > and initialize interrupts like this:
+ * > - encoder.enableInterrupts(doA,doB)
+ *
+ * Check the docs.simplefoc.com for more info about the possible encoder configuration.
+ *
+ */
+#include <SimpleFOC.h>
+// software interrupt library
+#include <PciManager.h>
+#include <PciListenerImp.h>
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+// Stepper motor & driver instance
+//StepperMotor motor = StepperMotor(50);
+//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
+
+// encoder instance
+Encoder encoder = Encoder(2, 3, 8192, A0);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+void doIndex(){encoder.handleIndex();}
+// If no available hadware interrupt pins use the software interrupt
+PciListenerImp listenerIndex(encoder.index_pin, doIndex);
+
+
+// velocity set point variable
+float target_velocity = 0;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
+
+
+void setup() {
+
+  // initialize encoder sensor hardware
+  encoder.init();
+  encoder.enableInterrupts(doA, doB);
+  // software interrupts
+  PciManager.registerListener(&listenerIndex);
+  // link the motor to the sensor
+  motor.linkSensor(&encoder);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // aligning voltage [V]
+  motor.voltage_sensor_align = 3;
+  // index search velocity [rad/s]
+  motor.velocity_index_search = 3;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::velocity;
+
+  // contoller configuration
+  // default parameters in defaults.h
+
+  // velocity PI controller parameters
+  motor.PID_velocity.P = 0.2f;
+  motor.PID_velocity.I = 20;
+  motor.PID_velocity.D = 0;
+  // default voltage_power_supply
+  motor.voltage_limit = 6;
+  // jerk control using voltage voltage ramp
+  // default value is 300 volts per sec  ~ 0.3V per millisecond
+  motor.PID_velocity.output_ramp = 1000;
+
+  // velocity low pass filtering time constant
+  motor.LPF_velocity.Tf = 0.01f;
+
+  // use monitoring with serial
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align sensor and start FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target velocity");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target velocity using serial terminal:"));
+  _delay(1000);
+}
+
+
+void loop() {
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move(target_velocity);
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  // motor.monitor();
+
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/motion_control/velocity_motion_control/hall_sensor/velocity_control/velocity_control.ino

@@ -0,0 +1,125 @@
+/**
+ *
+ * Velocity motion control example
+ * Steps:
+ * 1) Configure the motor and sensor
+ * 2) Run the code
+ * 3) Set the target velocity (in radians per second) from serial terminal
+ *
+ *
+ *
+ * NOTE :
+ * > Specifically for Arduino UNO example code for running velocity motion control using a hall sensor
+ * > Since Arduino UNO doesn't have enough interrupt pins we have to use software interrupt library PciManager.
+ *
+ * > If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins
+ * > you can supply doC directly to the sensor.enableInterrupts(doA,doB,doC) and avoid using PciManger
+ *
+ */
+#include <SimpleFOC.h>
+// software interrupt library
+#include <PciManager.h>
+#include <PciListenerImp.h>
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+// Stepper motor & driver instance
+//StepperMotor motor = StepperMotor(50);
+//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
+
+// hall sensor instance
+HallSensor sensor = HallSensor(2, 3, 4, 11);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){sensor.handleA();}
+void doB(){sensor.handleB();}
+void doC(){sensor.handleC();}
+// If no available hadware interrupt pins use the software interrupt
+PciListenerImp listenerIndex(sensor.pinC, doC);
+
+// velocity set point variable
+float target_velocity = 0;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
+
+void setup() {
+
+  // initialize sensor sensor hardware
+  sensor.init();
+  sensor.enableInterrupts(doA, doB); //, doC);
+  // software interrupts
+  PciManager.registerListener(&listenerIndex);
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // aligning voltage [V]
+  motor.voltage_sensor_align = 3;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::velocity;
+
+  // contoller configuration
+  // default parameters in defaults.h
+
+  // velocity PI controller parameters
+  motor.PID_velocity.P = 0.2f;
+  motor.PID_velocity.I = 2;
+  motor.PID_velocity.D = 0;
+  // default voltage_power_supply
+  motor.voltage_limit = 6;
+  // jerk control using voltage voltage ramp
+  // default value is 300 volts per sec  ~ 0.3V per millisecond
+  motor.PID_velocity.output_ramp = 1000;
+
+  // velocity low pass filtering time constant
+  motor.LPF_velocity.Tf = 0.01f;
+
+  // use monitoring with serial
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align sensor and start FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target voltage");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target velocity using serial terminal:"));
+  _delay(1000);
+}
+
+
+void loop() {
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move(target_velocity);
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  // motor.monitor();
+
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino

@@ -0,0 +1,106 @@
+/**
+ *
+ * Velocity motion control example
+ * Steps:
+ * 1) Configure the motor and magnetic sensor
+ * 2) Run the code
+ * 3) Set the target velocity (in radians per second) from serial terminal
+ *
+ *
+ * By using the serial terminal set the velocity value you want to motor to obtain
+ *
+ */
+#include <SimpleFOC.h>
+
+// magnetic sensor instance - SPI
+MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 10);
+// magnetic sensor instance - MagneticSensorI2C
+//MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
+// MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+// Stepper motor & driver instance
+//StepperMotor motor = StepperMotor(50);
+//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
+
+// velocity set point variable
+float target_velocity = 0;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
+
+void setup() {
+
+  // initialise magnetic sensor hardware
+  sensor.init();
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::velocity;
+
+  // contoller configuration
+  // default parameters in defaults.h
+
+  // velocity PI controller parameters
+  motor.PID_velocity.P = 0.2f;
+  motor.PID_velocity.I = 20;
+  motor.PID_velocity.D = 0;
+  // default voltage_power_supply
+  motor.voltage_limit = 6;
+  // jerk control using voltage voltage ramp
+  // default value is 300 volts per sec  ~ 0.3V per millisecond
+  motor.PID_velocity.output_ramp = 1000;
+
+  // velocity low pass filtering
+  // default 5ms - try different values to see what is the best.
+  // the lower the less filtered
+  motor.LPF_velocity.Tf = 0.01f;
+
+  // use monitoring with serial
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align sensor and start FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target velocity");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target velocity using serial terminal:"));
+  _delay(1000);
+}
+
+void loop() {
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move(target_velocity);
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  // motor.monitor();
+
+  // user communication
+  command.run();
+}