open_loop_esp32.ino

// Open loop motor control example
#include <SimpleFOC.h>

// BLDC motor & driver instance
// BLDCMotor( pp number , phase resistance)
BLDCMotor motor = BLDCMotor(11 , 0.6); 
BLDCDriver3PWM driver = BLDCDriver3PWM(25,26,27);

//target variable
float target_velocity = 2; // rad/s

// instantiate the commander
//Commander command = Commander(Serial);

void setup() {

  // driver config
  // power supply voltage [V]
  driver.voltage_power_supply = 12;
  driver.init();
  // link the motor and the driver
  motor.linkDriver(&driver);

  // limiting motor current (provided resistance)
  motor.current_limit = 12;   // [Amps]
 
  // open loop control config
  motor.controller = MotionControlType::velocity_openloop;

  // init motor hardware
  motor.init();

  // add target command T

  Serial.begin(115200);
  Serial.println("Motor ready!");
  Serial.println("Set target velocity [rad/s]");
  _delay(1000);
}

void loop() {

  // open loop velocity movement
  // using motor.current_limit and motor.velocity_limit
  motor.move(2);

  // user communication
//  command.run();
}