Proper low-cost and low-power FOC supporting boards are very hard to find these days and even may not exist. Even harder to find is a stable and simple FOC algorithm code capable of running on Arduino devices. Therefore this is an attempt to:

• Demystify FOC algorithm and make a robust but simple Arduino library: Arduino SimpleFOClibrary
• Develop a modular BLDC driver board: Arduino SimpleFOCShield.

NEWS: 📢 Arduino SimpleFOClibrary now supports ESP32 boards! Check out the library docs to see how to use them with your project. You can also find full configuration in the library examples.

NEWS: 📢 Arduino SimpleFOClibrary now supports magnetic sensors using I2C communication! Check out the library docs to see how to use them with your project. You can also find full configuration in the library examples.
BEWARE: 📢 The MagneticSensor class has been renamed and divided to MagneticSensorSPI and MagneticSensorI2C classes.

• Plug & play: In combination with Arduino SimpleFOClibrary
• Low-cost: Price of €15 - Check the pricing
• Max power 120W - max current 5A, power-supply 12-24V
  • Designed for Gimbal motors with the internal resistance >10 Ωs.
• Stackable: running 2 motors in the same time
• Encoder interface: Integrated 3.3kΩ pullups (configurable)
• Configurable pinout: Hardware configuration - soldering connections
• Arduino headers: Arduino UNO, Arduino MEGA, STM32 Nucleo boards...
• Open Source: Fully available fabrication files - how to make it yourself

This video demonstrates the Simple FOC library basic usage, electronic connections and shows its capabilities.

• Arduino compatible: Arduino library code
• Easy to setup and configure:
  • Easy hardware configuration
  • Easy tuning the control loops
• Modular:
  • Supports as many sensors , BLDC motors and driver boards as possible
  • Supports multiple MCU architectures:
    • Arduino: UNO, MEGA, any board with ATMega328 chips
    • STM32 boards: Nucleo and Bluepill
    • ESP32
• Plug & play: Arduino SimpleFOCShield

Depending on if you want to use this library as the plug and play Arduino library or you want to get insight in the algorithm and make changes there are two ways to install this code.

• Full library installation Docs
• Minimal code installation Docs

The simplest way to get hold of the library is directly by using Arduino IDE and its integrated Library Manager.

• Open Arduino IDE and start Arduino Library Manager by clicking: Tools > Manage Libraries....
• Search for Simple FOC library and install the latest version.
• Reopen Arduino IDE and you should have the library examples in File > Examples > Simple FOC.

• Go to the github repository
• Click first on Clone or Download > Download ZIP.
• Unzip it and place it in Arduino Libraries folder. Windows: Documents > Arduino > libraries.
• Reopen Arduino IDE and you should have the library examples in File > Examples > Simple FOC.

• Open terminal and run

cd *arduino libraries folder*
git clone https://github.com/askuric/Arduino-FOC.git

• Reopen Arduino IDE and you should have the library examples in File > Examples > Simple FOC.

For those willing to experiment and to modify the code I suggest using the minimal version of the code.

This code is completely independent and you can run it as any other Arduino Sketch without the need for any libraries.

• Go to minimal branch
• Download the code by clicking on the Clone or Download > Download ZIP.
• Unzip it and open the sketch in Arduino IDE.

• Open the terminal:

  cd *to you desired directory*
  git clone -b minimal https://github.com/askuric/Arduino-FOC.git

• Then you just open it with the Arduino IDE and run it.

This is a simple Arduino code example implementing the velocity control program of a BLDC motor with encoder.

NOTE: This program uses all the default control parameters.

#include <SimpleFOC.h>

//  BLDCMotor( pin_pwmA, pin_pwmB, pin_pwmC, pole_pairs, enable (optional))
BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8);
//  Encoder(pin_A, pin_B, CPR)
Encoder encoder = Encoder(2, 3, 2048);
// channel A and B callbacks
void doA(){encoder.handleA();}
void doB(){encoder.handleB();}


void setup() {  
  // initialize encoder hardware
  encoder.init();
  // hardware interrupt enable
  encoder.enableInterrupts(doA, doB);
  // link the motor to the sensor
  motor.linkSensor(&encoder);
  
  // use monitoring with the BLDCMotor
  Serial.begin(115200);
  // monitoring port
  motor.useMonitoring(Serial);

  // set control loop type to be used
  motor.controller = ControlType::velocity;
  // initialize motor
  motor.init();
  
  // align encoder and start FOC
  motor.initFOC();
}

void loop() {
  // FOC algorithm function
  motor.loopFOC();

  // velocity control loop function
  // setting the target velocity or 2rad/s
  motor.move(2);

  // monitoring function outputting motor variables to the serial terminal 
  motor.monitor();
}

You can find more details in the SimpleFOC documentation.

Here are some of the SimpleFOC application examples.

This is a very cool open-source project of one of the simplest setups of the Reaction wheel inverted pendulum. Check out all the components and projects notes in the github repository.

The main benefits of using the BLDC motor in this project are:

• High torque to weight ratio
  • The lighter the better
• Lots of torque for low angular velocities
  • No need to spin the motor to very high PRM to achieve high torques
• No gearboxes and backlash
  • Very smooth operation = very stable pendulum

Find out more information about the Arduino SimpleFOC project in docs website

Branch	Description	Status
master	Stable and tested library version
dev	Development library version
minimal	Minimal Arduino example with integrated library