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assets/arduino_examples/BLDC/BLDC.ino

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+// Open loop motor control example
+#include <SimpleFOC.h>
+
+
+// BLDC motor & driver instance
+// BLDCMotor motor = BLDCMotor(pole pair number);
+BLDCMotor motor = BLDCMotor(7);
+// BLDCDriver3PWM driver = BLDCDriver3PWM(pwmA, pwmB, pwmC, Enable(optional));
+BLDCDriver6PWM driver = BLDCDriver6PWM(5, 6, 9,10, 3, 11);
+
+// Stepper motor & driver instance
+//StepperMotor motor = StepperMotor(50);
+//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
+
+
+//target variable
+float target_velocity = 6;
+
+// // instantiate the commander
+Commander command = Commander(Serial);
+// void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
+// void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); }
+
+void setup() {
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 5;
+  // limit the maximal dc voltage the driver can set
+  // as a protection measure for the low-resistance motors
+  // this value is fixed on startup
+  driver.voltage_limit = 5;
+  // pwm frequency to be used [Hz]
+  // for atmega328 fixed to 32kHz
+  // esp32/stm32/teensy configurable
+  driver.pwm_frequency = 32000;
+
+
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // limiting motor movements
+  // limit the voltage to be set to the motor
+  // start very low for high resistance motors
+  // current = voltage / resistance, so try to be well under 1Amp
+  motor.voltage_limit = 3;   // [V]
+
+  // open loop control config
+  motor.controller = MotionControlType::velocity_openloop;
+
+  // init motor hardware
+  motor.init();
+
+  // add target command T
+  // command.add('T', doTarget, "target velocity");
+  // command.add('L', doLimit, "voltage limit");
+
+  Serial.begin(115200);
+  Serial.println("Motor ready!");
+  Serial.println("Set target velocity [rad/s]");
+  _delay(1000);
+
+}
+
+void loop() {
+
+  // open loop velocity movement
+  // using motor.voltage_limit and motor.velocity_limit
+  motor.move(target_velocity);
+
+  // user communication
+  command.run();
+
+
+}

assets/arduino_examples/IoT_MotorDriver/IoT_MotorDriver.ino

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+/******************************************************************************
+	IoT Motor Driver Example
+
+	Written By:
+		Madison Chodikov
+		Eric Orosel
+	Company: SparkFun Electronics	
+	Date: September 1 2023
+
+	This sketch is a stripped down version of the firmware that is preprogrammed
+	on the IoT Motor Driver. It is based on the open loop, velocity motor control
+	example from the SimpleFOC Arduino library.
+
+	This sketch will spin the motor based on the button inputs:
+		- Button 13: Starts/Stops the motor rotation
+		- Button 14: When spinning, switches the direction of rotation
+
+===============================================================================
+	Products:
+		IoT Brushless Motor Driver: https://www.sparkfun.com/products/22132
+
+	Repository:
+		https://github.com/sparkfun/SparkFun_IoT_Brushless_Motor_Driver
+===============================================================================
+
+	SparkFun code, firmware, and software is released under the MIT 
+	License	(http://opensource.org/licenses/MIT).
+
+	Distributed as-is; no warranty is given.
+******************************************************************************/
+
+#include <Wire.h>
+#include <SimpleFOC.h> //http://librarymanager/All#Simple%20FOC
+
+
+//GPIO
+#define auxBtn2   13
+#define auxBtn1   14  
+
+//driver
+#define uh16      16
+#define ul17      17
+#define vh18      18
+#define wh19      19
+#define vl23      23
+#define wl33      33
+#define curSense  32
+
+bool state = true;
+
+//motor driver
+BLDCMotor motor = BLDCMotor(7);
+BLDCDriver6PWM driver = BLDCDriver6PWM(uh16, ul17, vh18, vl23, wh19, wl33,  curSense);
+float target_velocity = 0.0;
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
+void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); }
+
+//////////////////////motor demo stuff///////////////////////////
+struct Button{
+  const uint8_t PIN;
+  uint32_t numberKeyPresses;
+  bool pressed;
+};
+Button aux1 = {auxBtn1, 0, false};
+Button aux2 = {auxBtn2, 0, false};
+
+void IRAM_ATTR isr1(){
+  aux1.pressed = true;
+  target_velocity = target_velocity*(-1);
+  Serial.println("Changing directions.. ");
+}
+
+void IRAM_ATTR isr2(){
+  aux2.numberKeyPresses++;
+  aux2.pressed = true;
+
+  if((aux2.numberKeyPresses % 2) == 0)
+  {
+    target_velocity = 0;
+    Serial.println("Stopping motor.. ");
+  }
+  else
+  {
+    target_velocity = 5;
+    motor.enable();
+    Serial.println("Starting motor.. ");
+  }
+}
+
+
+void setup() {
+
+  //motor demo stuff
+  driver.voltage_power_supply = 3.3;
+  driver.pwm_frequency = 20000;
+  driver.voltage_limit = 4;
+  driver.init();
+  motor.linkDriver(&driver);
+  motor.voltage_limit = 4;
+  motor.controller = MotionControlType::velocity_openloop;
+  motor.init();
+  motor.disable();
+  pinMode(aux1.PIN, INPUT_PULLUP); // Sets pin 14 on the ESP32 as an interrupt
+  attachInterrupt(aux1.PIN, isr1, FALLING); // Triggers when aux1 is pulled to GND (button pressed)
+  pinMode(aux2.PIN, INPUT_PULLUP); // Sets pin 13 on the ESP32 as an interrupt
+  attachInterrupt(aux2.PIN, isr2, FALLING); // Triggers when aux2 is pulled to GND (button pressed)
+  delay(100);
+
+  Serial.begin(115200);
+}
+
+/////////////////////////////////////////////////////////////////////////
+void loop() { 
+
+  // Button Press ISR
+  if(aux1.pressed){ 
+    aux1.pressed = false;
+  }
+
+  // Turning motor on and off
+  if(aux2.pressed){ 
+    aux2.pressed = false;
+  }
+
+  // open loop velocity movement
+  // using motor.voltage_limit and motor.velocity_limit
+  // Basic motor movement
+  motor.move(target_velocity);
+
+  // user communication
+  command.run();
+
+  delay(5);
+}