try to fix submodule

firmware/lib/Arduino-FOC/examples/utils/communication_test/commander/commander_extend_example/commander_extend_example.ino

@@ -0,0 +1,53 @@
+/**
+ * Simple example of custom commands that have nothing to do with the simple foc library
+ */
+
+#include <SimpleFOC.h>
+
+// instantiate the commander
+Commander command = Commander(Serial);
+
+// led control function
+void doLed(char* cmd){ 
+    if(atoi(cmd)) digitalWrite(LED_BUILTIN, HIGH); 
+    else digitalWrite(LED_BUILTIN, LOW); 
+};
+// get analog input 
+void doAnalog(char* cmd){ 
+    if (cmd[0] == '0') Serial.println(analogRead(A0));
+    else if (cmd[0] == '1') Serial.println(analogRead(A1));
+    else if (cmd[0] == '2') Serial.println(analogRead(A2));
+    else if (cmd[0] == '3') Serial.println(analogRead(A3));
+    else if (cmd[0] == '4') Serial.println(analogRead(A4));
+};
+
+void setup() {
+    // define pins
+    pinMode(LED_BUILTIN, OUTPUT);
+    pinMode(A0, INPUT);
+    pinMode(A1, INPUT);
+    pinMode(A2, INPUT);
+    pinMode(A3, INPUT);
+    pinMode(A4, INPUT);
+
+    // Serial port to be used
+    Serial.begin(115200);
+
+    // add new commands
+    command.add('L', doLed, "led on/off");
+    command.add('A', doAnalog, "analog read A0-A4");
+
+    Serial.println(F("Commander listening"));
+    Serial.println(F(" - Send ? to see the node list..."));
+    Serial.println(F(" - Send L0 to turn the led off and L1 to turn it off"));
+    Serial.println(F(" - Send A0-A4 to read the analog pins"));
+    _delay(1000);
+}
+
+
+void loop() {
+
+    // user communication
+    command.run(); 
+    _delay(10);
+}

firmware/lib/Arduino-FOC/examples/utils/communication_test/commander/commander_no_serial/commander_no_serial.ino

@@ -0,0 +1,51 @@
+/**
+ * Simple example of how to use the commander without serial - using just strings
+ */
+
+#include <SimpleFOC.h>
+
+// instantiate the commander
+Commander command = Commander();
+
+// led control function
+void doLed(char* cmd){ 
+    if(atoi(cmd)) digitalWrite(LED_BUILTIN, HIGH); 
+    else digitalWrite(LED_BUILTIN, LOW); 
+};
+// get analog input 
+void doAnalog(char* cmd){ 
+    if (cmd[0] == '0') Serial.println(analogRead(A0));
+    else if (cmd[0] == '1') Serial.println(analogRead(A1));
+};
+
+void setup() {
+    // define pins
+    pinMode(LED_BUILTIN, OUTPUT);
+    pinMode(A0, INPUT);
+    pinMode(A1, INPUT);
+
+    // Serial port to be used
+    Serial.begin(115200);
+
+    // add new commands
+    command.add('L', doLed, "led control");
+    command.add('A', doAnalog, "analog read A0-A1");
+
+    Serial.println(F("Commander running"));
+    _delay(1000);
+}
+
+
+void loop() {
+    // user communication
+    command.run("?"); 
+    _delay(2000);
+    command.run("L0"); 
+    _delay(1000);
+    command.run("A0"); 
+    _delay(1000);
+    command.run("A1"); 
+    _delay(1000);
+    command.run("L1"); 
+    _delay(1000);
+}

firmware/lib/Arduino-FOC/examples/utils/communication_test/commander/commander_tune_custom_loop/commander_tune_custom_loop.ino

@@ -0,0 +1,79 @@
+/**
+ * A simple example to show how to use the commander with the control loops outside of the scope of the SimpleFOC library
+*/
+#include <SimpleFOC.h>
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(5, 10, 6, 8);
+
+// encoder instance
+Encoder encoder = Encoder(2, 3, 500);
+// channel A and B callbacks
+void doA() { encoder.handleA(); }
+void doB() { encoder.handleB(); }
+
+// target voltage to be set to the motor
+float target_velocity = 0;
+
+// PID controllers and low pass filters
+PIDController PIDv{0.05, 1, 0, 100000000, 12};
+LowPassFilter LPFv{0.01};
+
+//add communication
+Commander command = Commander(Serial);
+void doController(char* cmd) { command.pid(&PIDv, cmd); }
+void doFilter(char* cmd) { command.lpf(&LPFv, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_velocity, 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.init();
+  // link driver
+  motor.linkDriver(&driver);
+
+  // set motion control loop to be used ( doing nothing )
+  motor.torque_controller = TorqueControlType::voltage;
+  motor.controller = MotionControlType::torque;
+
+  // use monitoring with serial
+  Serial.begin(115200);
+  motor.useMonitoring(Serial);
+  // initialize motor
+  motor.init();
+  // align sensor and start FOC
+  motor.initFOC();
+
+  // subscribe the new commands
+  command.add('C', doController, "tune velocity pid");
+  command.add('F', doFilter, "tune velocity LPF");
+  command.add('T', doTarget, "motor target");
+
+  _delay(1000);
+  Serial.println(F("Commander listening"));
+  Serial.println(F(" - Send ? to see the node list..."));
+}
+
+
+
+void loop() {
+  // looping foc
+  motor.loopFOC();
+
+  // calculate voltage
+  float target_voltage = PIDv(target_velocity - LPFv(motor.shaft_velocity));
+  // set the voltage
+  motor.move(target_voltage);
+
+  // user communication
+  command.run();
+}