README.md

SPWM motor control with L6234 driver

Smooth FOC like control with torque and speed control.

Information

• Manual

Install repo

git clone --recurse-submodules git@github.com:kaepek/spwm-motor-control.git
npm run build

Speed control:

Open loop code (no feedback)

• Arduino Code
• Teensy40 instructions

Closed loop (AS5147P rotary encoder , Teensy 4.0 microcontroller, l6234 motor driver)

• Detailed instructions

Position control:

Open loop code (no feedback)

• Teensy40 instructions

Closed loop code (rotary encoder AS5147P)

• Todo

Controller install

• cd external/kaepek-io
• npm install
• npm link

Credits/Useful links:

• EE design and software enginnering - Jonathan Kelsey
• Hack-a-day
• Electro-noobs
• ST-l6234-three-phase-motor-drive
• Anti-cogging-algorithm

How to prepare the Teensy40 platform:

• Install Arduino IDE v1.8.19
• Install Teensyduino v2.1.0
• Install TeensyTimerTool library by opening up Arduino IDE click the "Sketch" menu item, go down to "Include Library" and click "Manage Libraries...". Enter in the filter you search the string "TeensyTimerTool", select the correct version "Version 1.3.0" and click the install button.

General dependancies:

• Arduino.h
• imxrt.h
• TeensyTimerTool
• RxJs
• TS-Node
• Regression
• Regression types