try to fix submodule

firmware/lib/Arduino-FOC-drivers/examples/drivers/drv8316/drv8316_3pwm/drv8316_3pwm.ino

@@ -0,0 +1,123 @@
+
+
+
+#include "Arduino.h"
+#include <Wire.h>
+#include <SimpleFOC.h>
+#include <SimpleFOCDrivers.h>
+#include "drivers/drv8316/drv8316.h"
+
+
+
+
+BLDCMotor motor = BLDCMotor(11);
+DRV8316Driver3PWM driver = DRV8316Driver3PWM(2,3,4,7,false); // use the right pins for your setup!
+#define ENABLE_A 0
+#define ENABLE_B 1
+#define ENABLE_C 6
+
+
+void printDRV8316Status() {
+	DRV8316Status status = driver.getStatus();
+	Serial.println("DRV8316 Status:");
+	Serial.print("Fault: ");
+	Serial.println(status.isFault());
+	Serial.print("Buck Error: ");
+	Serial.print(status.isBuckError());
+	Serial.print("  Undervoltage: ");
+	Serial.print(status.isBuckUnderVoltage());
+	Serial.print("  OverCurrent: ");
+	Serial.println(status.isBuckOverCurrent());
+	Serial.print("Charge Pump UnderVoltage: ");
+	Serial.println(status.isChargePumpUnderVoltage());
+	Serial.print("OTP Error: ");
+	Serial.println(status.isOneTimeProgrammingError());
+	Serial.print("OverCurrent: ");
+	Serial.print(status.isOverCurrent());
+	Serial.print("  Ah: ");
+	Serial.print(status.isOverCurrent_Ah());
+	Serial.print("  Al: ");
+	Serial.print(status.isOverCurrent_Al());
+	Serial.print("  Bh: ");
+	Serial.print(status.isOverCurrent_Bh());
+	Serial.print("  Bl: ");
+	Serial.print(status.isOverCurrent_Bl());
+	Serial.print("  Ch: ");
+	Serial.print(status.isOverCurrent_Ch());
+	Serial.print("  Cl: ");
+	Serial.println(status.isOverCurrent_Cl());
+	Serial.print("OverTemperature: ");
+	Serial.print(status.isOverTemperature());
+	Serial.print("  Shutdown: ");
+	Serial.print(status.isOverTemperatureShutdown());
+	Serial.print("  Warning: ");
+	Serial.println(status.isOverTemperatureWarning());
+	Serial.print("OverVoltage: ");
+	Serial.println(status.isOverVoltage());
+	Serial.print("PowerOnReset: ");
+	Serial.println(status.isPowerOnReset());
+	Serial.print("SPI Error: ");
+	Serial.print(status.isSPIError());
+	Serial.print("  Address: ");
+	Serial.print(status.isSPIAddressError());
+	Serial.print("  Clock: ");
+	Serial.print(status.isSPIClockFramingError());
+	Serial.print("  Parity: ");
+	Serial.println(status.isSPIParityError());
+	if (status.isFault())
+		driver.clearFault();
+	delayMicroseconds(1); // ensure 400ns delay
+	DRV8316_PWMMode val = driver.getPWMMode();
+	Serial.print("PWM Mode: ");
+	Serial.println(val);
+	delayMicroseconds(1); // ensure 400ns delay
+	bool lock = driver.isRegistersLocked();
+	Serial.print("Lock: ");
+	Serial.println(lock);
+}
+
+
+
+
+
+void setup() {
+
+	Serial.begin(115200);
+	while (!Serial);
+	delay(1);
+	Serial.println("Initializing...");
+
+	pinMode(ENABLE_A, OUTPUT);
+	digitalWrite(ENABLE_A, 1); // enable
+	pinMode(ENABLE_B, OUTPUT);
+	digitalWrite(ENABLE_B, 1); // enable
+	pinMode(ENABLE_C, OUTPUT);
+	digitalWrite(ENABLE_C, 1); // enable
+
+	driver.voltage_power_supply = 12;
+	driver.init();
+	motor.linkDriver(&driver);
+	motor.controller = MotionControlType::velocity_openloop;
+	motor.voltage_limit = 3;
+	motor.velocity_limit = 20;
+	motor.init();
+	Serial.println("Init complete...");
+
+	delay(100);
+	printDRV8316Status();
+}
+
+
+// velocity set point variable
+float target_velocity = 7.0;
+
+
+void loop() {
+	//delay(100);
+	//driver.setPwm(7.4/4, 7.4/2, 7.4/4*3);
+	motor.move(target_velocity);
+}
+
+
+
+