try to fix submodule

firmware/lib/Arduino-FOC/examples/utils/calibration/find_kv_rating/encoder/find_kv_rating/find_kv_rating.ino

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+/**
+ * 
+ * Find KV rating for motor with encoder
+ *
+ * Motor KV rating is defiend as the increase of the motor velocity expressed in rotations per minute [rpm] per each 1 Volt int voltage control mode.
+ * 
+ * This example will set your motor in the torque control mode using voltage and set 1 volt to the motor. By reading the velocity it will calculat the motors KV rating.
+ * - To make this esimation more credible you can try increasing the target voltage (or decrease in some cases) 
+ * - The KV rating should be realatively static number - it should not change considerably with the increase in the voltage
+ *
+ */
+#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 sensor = Encoder(2, 3, 8192);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){sensor.handleA();}
+void doB(){sensor.handleB();}
+
+
+// voltage set point variable
+float target_voltage = 1;
+
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
+void calcKV(char* cmd) { 
+  // calculate the KV
+  Serial.println(motor.shaft_velocity/motor.target*30.0f/_PI);
+
+}
+
+void setup() { 
+  
+  // initialize encoder sensor hardware
+  sensor.init();
+  sensor.enableInterrupts(doA, doB); 
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+
+  // driver config
+  // IMPORTANT!
+  // make sure to set the correct power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link driver
+  motor.linkDriver(&driver);
+
+  // aligning voltage
+  motor.voltage_sensor_align = 3;
+  
+  // 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");
+  command.add('K', calcKV, "calculate KV rating");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target voltage : - commnad T"));
+  Serial.println(F("Calculate the motor KV : - command K"));
+  _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/utils/calibration/find_kv_rating/hall_sensor/find_kv_rating/find_kv_rating.ino

@@ -0,0 +1,99 @@
+/**
+ * 
+ * Find KV rating for motor with Hall sensors
+ *
+ * Motor KV rating is defiend as the increase of the motor velocity expressed in rotations per minute [rpm] per each 1 Volt int voltage control mode.
+ * 
+ * This example will set your motor in the torque control mode using voltage and set 1 volt to the motor. By reading the velocity it will calculat the motors KV rating.
+ * - To make this esimation more credible you can try increasing the target voltage (or decrease in some cases) 
+ * - The KV rating should be realatively static number - it should not change considerably with the increase in the voltage
+ */
+#include <SimpleFOC.h>
+
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 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 = 1;
+
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
+void calcKV(char* cmd) { 
+  // calculate the KV
+  Serial.println(motor.shaft_velocity/motor.target*30.0f/_PI);
+
+}
+
+void setup() { 
+  
+  // initialize encoder sensor hardware
+  sensor.init();
+  sensor.enableInterrupts(doA, doB, doC); 
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+
+  // driver config
+  // IMPORTANT!
+  // make sure to set the correct power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link driver
+  motor.linkDriver(&driver);
+
+  // aligning voltage
+  motor.voltage_sensor_align = 3;
+
+  // 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");
+  command.add('K', calcKV, "calculate KV rating");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target voltage : - commnad T"));
+  Serial.println(F("Calculate the motor KV : - command K"));
+  _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/utils/calibration/find_kv_rating/magnetic_sensor/find_kv_rating/find_kv_rating.ino

@@ -0,0 +1,96 @@
+/**
+ * Find KV rating for motor with magnetic sensors
+ *
+ * Motor KV rating is defiend as the increase of the motor velocity expressed in rotations per minute [rpm] per each 1 Volt int voltage control mode.
+ * 
+ * This example will set your motor in the torque control mode using voltage and set 1 volt to the motor. By reading the velocity it will calculat the motors KV rating.
+ * - To make this esimation more credible you can try increasing the target voltage (or decrease in some cases) 
+ * - The KV rating should be realatively static number - it should not change considerably with the increase in the voltage
+ */
+#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 = 1;
+
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
+void calcKV(char* cmd) { 
+  // calculate the KV
+  Serial.println(motor.shaft_velocity/motor.target*30.0f/_PI);
+
+}
+
+void setup() { 
+  
+  // initialize encoder sensor hardware
+  sensor.init();
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+
+  // driver config
+  // IMPORTANT!
+  // make sure to set the correct power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link driver
+  motor.linkDriver(&driver);
+
+  // aligning voltage
+  motor.voltage_sensor_align = 3;
+
+  // 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");
+  command.add('K', calcKV, "calculate KV rating");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target voltage : - commnad T"));
+  Serial.println(F("Calculate the motor KV : - command K"));
+  _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();
+}