├── Arduino ├── Sketch │ ├── T32_SPI-AS5047 │ │ ├── T32_SPI-AS5047.ino │ │ ├── t3spi.cpp │ │ └── t3spi.h │ └── Teensy-3-2_SPI-Master-Slave │ │ ├── T32_SPI-Master │ │ ├── T32_SPI-Master.ino │ │ ├── t3spi.cpp │ │ └── t3spi.h │ │ └── T32_SPI-Slave │ │ ├── T32_SPI-Slave.ino │ │ ├── t3spi.cpp │ │ └── t3spi.h ├── sketch │ ├── Teensy-3-2_fastADC │ │ └── Teensy-3-2_fastADC.ino │ ├── Teensy-3-2_pwmCoordination │ │ ├── Teensy-3-2_pwmCoordination.ino │ │ ├── config.h │ │ ├── constants.h │ │ ├── foc.cpp │ │ ├── foc.h │ │ ├── ringbuffer.cpp │ │ ├── ringbuffer.h │ │ ├── svpwm.cpp │ │ ├── svpwm.h │ │ ├── t3adc.cpp │ │ ├── t3adc.h │ │ ├── t3pwm.cpp │ │ └── t3pwm.h │ ├── Teensy_PWM │ │ └── Teensy_PWM │ │ │ ├── Teensy_PWM.ino │ │ │ └── pwm.h │ ├── Teensy_PWM_ISR01 │ │ └── Teensy_PWM_ISR01 │ │ │ ├── Teensy_PWM_ISR01.ino │ │ │ ├── mk20ftm0.h │ │ │ └── pwm.h │ └── serial_block_buffer │ │ ├── gcode.cpp │ │ ├── gcode.h │ │ ├── kernel.cpp │ │ ├── kernel.h │ │ ├── sbp.cpp │ │ ├── sbp.h │ │ ├── serial_block_buffer.ino │ │ ├── shell.cpp │ │ ├── shell.h │ │ ├── streamer.cpp │ │ └── streamer.h ├── teensy_esc │ ├── as5047.cpp │ ├── as5047.h │ ├── bldc.cpp │ ├── bldc.h │ ├── config.h │ ├── constants.h │ ├── fastrig.cpp │ ├── fastrig.h │ ├── foc.cpp │ ├── foc.h │ ├── kernel.cpp │ ├── kernel.h │ ├── rb.cpp │ ├── rb.h │ ├── rbf.cpp │ ├── rbf.h │ ├── shell.cpp │ ├── shell.h │ ├── sp.cpp │ ├── sp.h │ ├── t3adc.cpp │ ├── t3adc.h │ ├── t3pwm.cpp │ ├── t3pwm.h │ ├── t3spi.cpp │ ├── t3spi.h │ ├── teensy_esc.ino │ ├── vsens.cpp │ └── vsens.h └── teensy_esc_serialList ├── Circuit ├── 7805_pinsNumbered_kiCadComponent.dcm ├── 7805_pinsNumbered_kiCadComponent.lib ├── HTO-252.pretty │ └── TO-252-2.kicad_mod ├── HTSSOP-56.pretty │ └── TSSOP-56_6.1x14mm_Pitch0.5mm.kicad_mod ├── New Circuit Wishlist ├── R_SHUNT_3920.pretty │ ├── R_2816_HandSoldering.kicad_mod │ └── R_SHUNT_3920.kicad_mod ├── TO-251_IPAK_Slammed.pretty │ └── TO-251_IPAK_Vertical.kicad_mod ├── _autosave-bbesc_kiCad.kicad_pcb ├── bbe4FB2.tmp ├── bbesc_Gerber │ ├── 2fab │ │ ├── bbesc_2017-07-18-fab.zip │ │ ├── bbesc_2017-07-19-fab.zip │ │ ├── bbesc_kiCad-B.Cu.gbr │ │ ├── bbesc_kiCad-B.Mask.gbr │ │ ├── bbesc_kiCad-B.SilkS.gbr │ │ ├── bbesc_kiCad-Edge.Cuts.gbr │ │ ├── bbesc_kiCad-F.Cu.gbr │ │ ├── bbesc_kiCad-F.Mask.gbr │ │ ├── bbesc_kiCad-F.SilkS.gbr │ │ ├── bbesc_kiCad-NPTH.drl │ │ └── bbesc_kiCad.drl │ ├── 3fab │ │ ├── bbesc_kiCad-B.Cu.gbr │ │ ├── bbesc_kiCad-B.Mask.gbr │ │ ├── bbesc_kiCad-B.SilkS.gbr │ │ ├── bbesc_kiCad-Edge.Cuts.gbr │ │ ├── bbesc_kiCad-F.Cu.gbr │ │ ├── bbesc_kiCad-F.Mask.gbr │ │ ├── bbesc_kiCad-F.SilkS.gbr │ │ ├── bbesc_kiCad-NPTH.drl │ │ └── bbesc_kiCad.drl │ ├── 4fab │ │ ├── bbesc_kiCad-B.Cu.gbr │ │ ├── bbesc_kiCad-B.Mask.gbr │ │ ├── bbesc_kiCad-B.SilkS.gbr │ │ ├── bbesc_kiCad-Edge.Cuts.gbr │ │ ├── bbesc_kiCad-F.Cu.gbr │ │ ├── bbesc_kiCad-F.Mask.gbr │ │ ├── bbesc_kiCad-F.SilkS.gbr │ │ └── bbesc_kiCad.drl │ ├── bbesc_kiCad-B.Cu.gbr │ ├── bbesc_kiCad-Edge.Cuts.gbr │ ├── bbesc_kiCad-F.Cu.gbr │ ├── bbesc_kiCad-NPTH.drl │ ├── bbesc_kiCad.drl │ ├── foct_v0_2_4pcb.zip │ ├── foct_v0_3_4pcb.zip │ └── gcode │ │ ├── 01-drl-align.gcode │ │ └── 02-f-cu.gcode ├── bbesc_kiCad-cache.lib ├── bbesc_kiCad-rescue.lib ├── bbesc_kiCad.bak ├── bbesc_kiCad.jpg ├── bbesc_kiCad.kicad_pcb ├── bbesc_kiCad.kicad_pcb-bak ├── bbesc_kiCad.net ├── bbesc_kiCad.pro ├── bbesc_kiCad.sch ├── bbesc_kiCad.xml ├── bbesc_kiCad_1stAttempt.kicad_pcb ├── bbesc_kiCad_v0_1.zip ├── bbesc_kiCad_v0_2.zip ├── bbesc_kiCad_v0_3.zip ├── drv_8302.dcm ├── drv_8302.lib ├── fp-lib-table ├── ina21x.dcm ├── ina21x.lib ├── ir2101_kiCadComponent.bak ├── ir2101_kiCadComponent.bck ├── ir2101_kiCadComponent.dcm ├── ir2101_kiCadComponent.lib ├── lm358n_8pin_kiCadComponent.lib ├── r_shunt.bak ├── r_shunt.bck ├── r_shunt.dcm ├── r_shunt.lib ├── teensy_3-2_bottomLess.pretty │ └── Teensy3.2-bottomLess.kicad_mod ├── teensy_3-2_kiCadComponent.bak ├── teensy_3-2_kiCadComponent.bck ├── teensy_3-2_kiCadComponent.dcm └── teensy_3-2_kiCadComponent.lib ├── Datasheets ├── 2017-05-12T12_15_08.csv ├── AS5047D_DS000394_2-00.pdf ├── CAN_sn65hvd230.pdf ├── Teensy │ ├── K20P64M72SF1RM.pdf │ ├── card7a_rev1.pdf │ └── card7b_rev1.pdf └── Transistors and Drivers │ ├── 50N06.pdf │ ├── BUCK-tps54160.pdf │ ├── DRV-8302.pdf │ ├── DRV-ir2101.pdf │ ├── DRV-irs2011pbf.pdf │ ├── DRV-mic4100-778905.pdf │ ├── FET-ST-TO252.pdf │ ├── FQP30N06.pdf │ ├── IR2101-Circuit.png │ ├── LM358N.pdf │ ├── OPAMP-ina211.pdf │ ├── THEFET_irlr2905zpbf.pdf │ └── oneFet_to-251_irfr7440pbf.pdf ├── Documentation ├── foct-board-v0-2.png ├── foct-schematic-v0-3.pdf ├── foct-schematic-v0-3.png └── foct-test-v0-1.png ├── Education ├── STI_measuringShunts.pdf ├── SVM-AppNote-STI.pdf ├── SVM-ApplicationNote-AN0354.pdf ├── Solving Kinematics Problems of a 6-DOF Robot Manipulator.pdf ├── SpaceVector_PWM_Inverter.pdf ├── The Closed Form Solution of the Inverse Kinematics of a 6-DOF Robot.pdf ├── ben-katz_bldcThesis.pdf ├── curbldc3.pdf ├── 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