├── .github ├── ISSUE_TEMPLATE │ ├── bug_report.md │ └── feature_request.md ├── PULL_REQUEST_TEMPLATE.md └── workflows │ ├── arduino.yml │ ├── arduino_mbed.yml │ ├── esp32.yml │ ├── rpi.yml │ ├── samd.yml │ ├── stm32.yml │ └── teensy.yml ├── CITATION.cff ├── CODE_OF_CONDUCT.md ├── LICENSE ├── README.md ├── examples ├── hardware_specific_examples │ ├── B_G431B_ESC1 │ │ ├── B_G431B_ESC1.ino │ │ └── build_opt.h │ ├── Bluepill_examples │ │ ├── encoder │ │ │ └── bluepill_position_control │ │ │ │ └── bluepill_position_control.ino │ │ └── magnetic_sensor │ │ │ └── bluepill_position_control │ │ │ └── bluepill_position_control.ino │ ├── DRV8302_driver │ │ ├── 3pwm_example │ │ │ └── encoder │ │ │ │ └── full_control_serial │ │ │ │ └── full_control_serial.ino │ │ ├── 6pwm_example │ │ │ └── encoder │ │ │ │ └── full_control_serial │ │ │ │ └── full_control_serial.ino │ │ ├── esp32_current_control_low_side │ │ │ └── esp32_current_control_low_side.ino │ │ ├── stm32_current_control_low_side │ │ │ └── stm32_current_control_low_side.ino │ │ └── teensy4_current_control_low_side │ │ │ └── teensy4_current_control_low_side.ino │ ├── ESP32 │ │ ├── encoder │ │ │ └── esp32_position_control │ │ │ │ └── esp32_position_control.ino │ │ └── magnetic_sensor │ │ │ └── esp32_position_control │ │ │ └── esp32_position_control.ino │ ├── HMBGC_example │ │ ├── position_control │ │ │ └── position_control.ino │ │ └── voltage_control │ │ │ └── voltage_control.ino │ ├── Odrive_examples │ │ ├── odrive_example_encoder │ │ │ └── odrive_example_encoder.ino │ │ └── odrive_example_spi │ │ │ └── odrive_example_spi.ino │ ├── SAMD_examples │ │ ├── README.md │ │ └── nano33IoT │ │ │ └── nano33IoT_velocity_control │ │ │ └── nano33IoT_velocity_control.ino │ ├── SimpleFOC-PowerShield │ │ └── version_v02 │ │ │ └── single_full_control_example │ │ │ └── single_full_control_example.ino │ ├── SimpleFOCMini │ │ ├── angle_control │ │ │ └── angle_control.ino │ │ └── open_loop │ │ │ └── open_loop.ino │ ├── SimpleFOCShield │ │ ├── version_v1 │ │ │ ├── double_full_control_example │ │ │ │ └── double_full_control_example.ino │ │ │ └── single_full_control_example │ │ │ │ └── single_full_control_example.ino │ │ ├── version_v2 │ │ │ ├── double_full_control_example │ │ │ │ └── double_full_control_example.ino │ │ │ └── single_full_control_example │ │ │ │ └── single_full_control_example.ino │ │ └── version_v3 │ │ │ └── single_full_control_example │ │ │ └── single_full_control_example.ino │ ├── Smart_Stepper │ │ └── smartstepper_control │ │ │ └── smartstepper_control.ino │ └── Teensy │ │ ├── Teensy3 │ │ ├── bldc_driver_6pwm_standalone │ │ │ └── bldc_driver_6pwm_standalone.ino │ │ └── open_loop_velocity_6pwm │ │ │ └── open_loop_velocity_6pwm.ino │ │ └── Teensy4 │ │ ├── bldc_driver_6pwm_standalone │ │ └── bldc_driver_6pwm_standalone.ino │ │ └── open_loop_velocity_6pwm │ │ └── open_loop_velocity_6pwm.ino ├── motion_control │ ├── open_loop_motor_control │ │ ├── open_loop_position_example │ │ │ └── open_loop_position_example.ino │ │ └── open_loop_velocity_example │ │ │ └── open_loop_velocity_example.ino │ ├── position_motion_control │ │ ├── encoder │ │ │ └── angle_control │ │ │ │ └── angle_control.ino │ │ ├── hall_sensor │ │ │ └── angle_control │ │ │ │ └── angle_control.ino │ │ └── magnetic_sensor │ │ │ └── angle_control │ │ │ └── angle_control.ino │ ├── torque_control │ │ ├── encoder │ │ │ ├── current_control │ │ │ │ └── current_control.ino │ │ │ └── voltage_control │ │ │ │ └── voltage_control.ino │ │ ├── hall_sensor │ │ │ └── voltage_control │ │ │ │ └── voltage_control.ino │ │ └── magnetic_sensor │ │ │ └── voltage_control │ │ │ └── voltage_control.ino │ └── velocity_motion_control │ │ ├── encoder │ │ └── velocity_control │ │ │ └── velocity_control.ino │ │ ├── hall_sensor │ │ └── velocity_control │ │ │ └── velocity_control.ino │ │ └── magnetic_sensor │ │ └── velocity_control │ │ └── velocity_control.ino ├── motor_commands_serial_examples │ ├── encoder │ │ └── full_control_serial │ │ │ └── full_control_serial.ino │ ├── hall_sensor │ │ └── full_control_serial │ │ │ └── full_control_serial.ino │ └── magnetic_sensor │ │ └── full_control_serial │ │ └── full_control_serial.ino ├── osc_control_examples │ ├── README.md │ ├── osc_esp32_3pwm │ │ ├── layout1.touchosc │ │ └── osc_esp32_3pwm.ino │ ├── osc_esp32_fullcontrol │ │ ├── osc_esp32_fullcontrol.ino │ │ ├── osc_fullcontrol.pd │ │ └── ssid.h_rename_me │ └── osc_fullcontrol_screenshot.png └── utils │ ├── calibration │ ├── alignment_and_cogging_test │ │ └── alignment_and_cogging_test.ino │ ├── find_kv_rating │ │ ├── encoder │ │ │ └── find_kv_rating │ │ │ │ └── find_kv_rating.ino │ │ ├── hall_sensor │ │ │ └── find_kv_rating │ │ │ │ └── find_kv_rating.ino │ │ └── magnetic_sensor │ │ │ └── find_kv_rating │ │ │ └── find_kv_rating.ino │ ├── find_pole_pair_number │ │ ├── encoder │ │ │ └── find_pole_pairs_number │ │ │ │ └── find_pole_pairs_number.ino │ │ └── magnetic_sensor │ │ │ └── find_pole_pairs_number │ │ │ └── find_pole_pairs_number.ino │ ├── find_sensor_offset_and_direction │ │ └── find_sensor_offset_and_direction.ino │ └── measure_inductance_and_resistance │ │ └── measure_inductance_and_resistance.ino │ ├── communication_test │ ├── commander │ │ ├── commander_extend_example │ │ │ └── commander_extend_example.ino │ │ ├── commander_no_serial │ │ │ └── commander_no_serial.ino │ │ └── commander_tune_custom_loop │ │ │ └── commander_tune_custom_loop.ino │ └── step_dir │ │ ├── step_dir_listener_simple │ │ └── step_dir_listener_simple.ino │ │ ├── step_dir_listener_software_interrupt │ │ └── step_dir_listener_software_interrupt.ino │ │ └── step_dir_motor_example │ │ └── step_dir_motor_example.ino │ ├── current_sense_test │ ├── generic_current_sense │ │ └── generic_current_sense.ino │ └── inline_current_sense_test │ │ └── inline_current_sense_test.ino │ ├── driver_standalone_test │ ├── bldc_driver_3pwm_standalone │ │ └── bldc_driver_3pwm_standalone.ino │ ├── bldc_driver_6pwm_standalone │ │ └── bldc_driver_6pwm_standalone.ino │ ├── stepper_driver_2pwm_standalone │ │ └── stepper_driver_2pwm_standalone.ino │ └── stepper_driver_4pwm_standalone │ │ └── stepper_driver_4pwm_standalone.ino │ └── sensor_test │ ├── encoder │ ├── encoder_example │ │ └── encoder_example.ino │ └── encoder_software_interrupts_example │ │ └── encoder_software_interrupts_example.ino │ ├── generic_sensor │ └── generic_sensor.ino │ ├── hall_sensors │ ├── hall_sensor_example │ │ └── hall_sensor_example.ino │ ├── hall_sensor_hardware_interrupts_example │ │ └── hall_sensor_hardware_interrupts_example.ino │ └── hall_sensor_software_interrupts_example │ │ └── hall_sensor_software_interrupts_example.ino │ ├── linear_hall_sensors │ └── find_raw_centers │ │ └── find_raw_centers.ino │ └── magnetic_sensors │ ├── magnetic_sensor_analog │ ├── find_raw_min_max │ │ └── find_raw_min_max.ino │ └── magnetic_sensor_analog_example │ │ └── magnetic_sensor_analog_example.ino │ ├── magnetic_sensor_i2c │ ├── magnetic_sensor_i2c_dual_bus_examples │ │ ├── esp32_i2c_dual_bus_example │ │ │ └── esp32_i2c_dual_bus_example.ino │ │ └── stm32_i2c_dual_bus_example │ │ │ └── stm32_i2c_dual_bus_example.ino │ └── magnetic_sensor_i2c_example │ │ └── magnetic_sensor_i2c_example.ino │ ├── magnetic_sensor_pwm │ ├── find_raw_min_max │ │ └── find_raw_min_max.ino │ ├── magnetic_sensor_pwm_example │ │ └── magnetic_sensor_pwm_example.ino │ └── magnetic_sensor_pwm_software_interrupt │ │ └── magnetic_sensor_pwm_software_interrupt.ino │ └── magnetic_sensor_spi │ ├── magnetic_sensor_spi_alternative_examples │ ├── esp32_spi_alt_example │ │ └── esp32_spi_alt_example.ino │ └── stm32_spi_alt_example │ │ └── stm32_spi_alt_example.ino │ └── magnetic_sensor_spi_example │ └── magnetic_sensor_spi_example.ino ├── keywords.txt ├── library.json ├── library.properties └── src ├── BLDCMotor.cpp ├── BLDCMotor.h ├── HybridStepperMotor.cpp ├── HybridStepperMotor.h ├── SimpleFOC.h ├── StepperMotor.cpp ├── StepperMotor.h ├── common ├── base_classes │ ├── BLDCDriver.h │ ├── CurrentSense.cpp │ ├── CurrentSense.h │ ├── FOCDriver.h │ ├── FOCMotor.cpp │ ├── FOCMotor.h │ ├── Sensor.cpp │ ├── Sensor.h │ └── StepperDriver.h ├── defaults.h ├── foc_utils.cpp ├── foc_utils.h ├── lowpass_filter.cpp ├── lowpass_filter.h ├── pid.cpp ├── pid.h ├── time_utils.cpp └── time_utils.h ├── communication ├── Commander.cpp ├── Commander.h ├── SimpleFOCDebug.cpp ├── SimpleFOCDebug.h ├── StepDirListener.cpp ├── StepDirListener.h └── commands.h ├── current_sense ├── GenericCurrentSense.cpp ├── GenericCurrentSense.h ├── InlineCurrentSense.cpp ├── InlineCurrentSense.h ├── LowsideCurrentSense.cpp ├── LowsideCurrentSense.h ├── hardware_api.h └── hardware_specific │ ├── atmega_mcu.cpp │ ├── due_mcu.cpp │ ├── esp32 │ ├── esp32_adc_driver.cpp │ ├── esp32_adc_driver.h │ ├── esp32_mcpwm_mcu.cpp │ ├── esp32_mcu.cpp │ └── esp32_mcu.h │ ├── generic_mcu.cpp │ ├── rp2040 │ ├── rp2040_mcu.cpp │ └── rp2040_mcu.h │ ├── samd │ ├── samd21_mcu.cpp │ ├── samd21_mcu.h │ └── samd_mcu.cpp │ ├── stm32 │ ├── b_g431 │ │ ├── b_g431_hal.cpp │ │ ├── b_g431_hal.h │ │ └── b_g431_mcu.cpp │ ├── stm32_adc_utils.cpp │ ├── stm32_adc_utils.h │ ├── stm32_mcu.cpp │ ├── stm32_mcu.h │ ├── stm32f1 │ │ ├── stm32f1_hal.cpp │ │ ├── stm32f1_hal.h │ │ ├── stm32f1_mcu.cpp │ │ └── stm32f1_utils.cpp │ ├── stm32f4 │ │ ├── stm32f4_hal.cpp │ │ ├── stm32f4_hal.h │ │ ├── stm32f4_mcu.cpp │ │ └── stm32f4_utils.cpp │ ├── stm32f7 │ │ ├── stm32f7_hal.cpp │ │ ├── stm32f7_hal.h │ │ ├── stm32f7_mcu.cpp │ │ └── stm32f7_utils.cpp │ ├── stm32g4 │ │ ├── stm32g4_hal.cpp │ │ ├── stm32g4_hal.h │ │ ├── stm32g4_mcu.cpp │ │ └── stm32g4_utils.cpp │ ├── stm32h7 │ │ ├── stm32h7_hal.cpp │ │ ├── stm32h7_hal.h │ │ ├── stm32h7_mcu.cpp │ │ └── stm32h7_utils.cpp │ └── stm32l4 │ │ ├── stm32l4_hal.cpp │ │ ├── stm32l4_hal.h │ │ ├── stm32l4_mcu.cpp │ │ └── stm32l4_utils.cpp │ └── teensy │ ├── teensy4_mcu.cpp │ ├── teensy4_mcu.h │ └── teensy_mcu.cpp ├── drivers ├── BLDCDriver3PWM.cpp ├── BLDCDriver3PWM.h ├── BLDCDriver6PWM.cpp ├── BLDCDriver6PWM.h ├── StepperDriver2PWM.cpp ├── StepperDriver2PWM.h ├── StepperDriver4PWM.cpp ├── StepperDriver4PWM.h ├── hardware_api.h └── hardware_specific │ ├── atmega │ ├── atmega2560_mcu.cpp │ ├── atmega328_mcu.cpp │ └── atmega32u4_mcu.cpp │ ├── due_mcu.cpp │ ├── esp32 │ ├── esp32_driver_mcpwm.cpp │ ├── esp32_driver_mcpwm.h │ ├── esp32_ledc_mcu.cpp │ ├── esp32_mcpwm_mcu.cpp │ └── mcpwm_private.h │ ├── esp8266_mcu.cpp │ ├── generic_mcu.cpp │ ├── nrf52_mcu.cpp │ ├── portenta_h7_mcu.cpp │ ├── renesas │ ├── renesas.cpp │ └── renesas.h │ ├── rp2040 │ ├── rp2040_mcu.cpp │ └── rp2040_mcu.h │ ├── samd │ ├── samd21_mcu.cpp │ ├── samd51_mcu.cpp │ ├── samd_mcu.cpp │ └── samd_mcu.h │ ├── stm32 │ ├── stm32_mcu.cpp │ ├── stm32_mcu.h │ ├── stm32_searchtimers.cpp │ ├── stm32_searchtimers.h │ ├── stm32_timerutils.cpp │ └── stm32_timerutils.h │ └── teensy │ ├── teensy3_mcu.cpp │ ├── teensy4_mcu.cpp │ ├── teensy4_mcu.h │ ├── teensy_mcu.cpp │ └── 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