Library Examples v2.4+

The SimpleFOClibrary includes 88+ documented examples available in the examples folder on GitHub or through the Arduino IDE at File > Examples > Simple FOC.

These examples demonstrate the basic usage of the library with:

different microcontroller architectures:
- Arduino UNO, Mega, Nano, DUE
- STM32 (Bluepill, Nucleo, B-G431B-ESC1)
- ESP32 and ESP8266
- Teensy (3.x and 4.x)
- SAMD (Nano 33 IoT)
- Silicon Labs (Arduino Nano Matter)
- Raspberry Pi Pico
- HMBGC gimbal controller
different position sensors:
- Encoders (hardware and software interrupts)
- Magnetic sensors (SPI, I2C, Analog)
- Hall sensors
- Open-loop control (sensorless)
different BLDC/Stepper drivers:
- SimpleFOCShield (v1, v2, v3)
- SimpleFOCMini
- SimpleFOCPowerShield
- HMBGC gimbal controller
- DRV8302/DRV8305 drivers
- ODrive boards
- Smart Stepper
different motion control modes:
- Torque control (voltage and current-based)
- Velocity control
- Position/angle control
- Open-loop velocity and position
- Custom motion control
comprehensive utility functions:
- Sensor testing and calibration
- Finding pole pair number
- Finding zero offset and sensor orientation
- Alignment and cogging test
- Finding KV rating
- Measuring inductance and resistance
- Current sense alignment and testing
- Driver standalone testing
- Communication testing (Commander, Step/Dir)
- OSC (Open Sound Control) integration

Examples folder structure

> examples
├───hardware_specific_examples                    # https://github.com/simplefoc/Arduino-FOC/tree/master/examples/hardware_specific_examples
│   ├───B_G431B_ESC1                              # STM32 B-G431B-ESC1 board examples
│   ├───Bluepill_examples                         # STM32 Bluepill examples
│   │   ├───encoder
│   │   └───magnetic_sensor
│   ├───DRV8302_driver                            # DRV8302/DRV8305 driver examples
│   │   ├───3pwm_example
│   │   ├───6pwm_example
│   │   ├───esp32_current_control_low_side
│   │   ├───stm32_current_control_low_side
│   │   └───teensy4_current_control_low_side
│   ├───ESP32                                     # ESP32 controller examples
│   │   ├───encoder 
│   │   └───magnetic_sensor
│   ├───HMBGC_example                             # HMBGC gimbal controller examples
│   │   ├───position_control
│   │   └───voltage_control
│   ├───Odrive_examples                           # ODrive board examples
│   │   ├───odrive_example_encoder
│   │   └───odrive_example_spi
│   ├───SAMD_examples                             # SAMD21/51 (Nano 33 IoT) examples
│   │   └───nano33IoT
│   ├───Silabs                                    # Silicon Labs (Arduino Nano Matter) examples
│   │   ├───efr32_hall_sensor_velocity_6pwm
│   │   ├───efr32_open_loop_velocity_6pwm
│   │   └───efr32_torque_velocity_6pwm
│   ├───SimpleFOC-PowerShield                     # SimpleFOC PowerShield examples
│   │   └───version_v02
│   ├───SimpleFOCMini                             # SimpleFOC Mini board examples
│   │   ├───angle_control
│   │   └───open_loop
│   ├───SimpleFOCShield                           # SimpleFOC Shield examples
│   │   ├───version_v1
│   │   ├───version_v2
│   │   └───version_v3
│   ├───Smart_Stepper                             # Smart Stepper examples
│   │   └───smartstepper_control
│   └───Teensy                                    # Teensy board examples
│       ├───Teensy3
│       └───Teensy4
├───motion_control                                # https://github.com/simplefoc/Arduino-FOC/tree/master/examples/motion_control
│   ├───custom_motion_control                     # Custom motion control loop example
│   ├───open_loop_motor_control                   # Open-loop motor control
│   │   ├───open_loop_position_example
│   │   └───open_loop_velocity_example
│   ├───position_motion_control                   # Position/angle motion control
│   │   ├───encoder
│   │   ├───hall_sensor
│   │   └───magnetic_sensor
│   ├───torque_control                            # Torque control examples
│   │   ├───encoder
│   │   ├───hall_sensor
│   │   └───magnetic_sensor
│   └───velocity_motion_control                   # Velocity motion control
│       ├───encoder
│       ├───hall_sensor
│       └───magnetic_sensor
├───motor_commands_serial_examples                # Serial commander examples - https://github.com/simplefoc/Arduino-FOC/tree/master/examples/motor_commands_serial_examples
│   ├───encoder
│   │   └───full_control_serial
│   ├───hall_sensor
│   │   └───full_control_serial
│   └───magnetic_sensor
│       └───full_control_serial
├───osc_control_examples                          # Open Sound Control (OSC) examples - https://github.com/simplefoc/Arduino-FOC/tree/master/examples/osc_control_examples
│   ├───osc_esp32_3pwm
│   └───osc_esp32_fullcontrol
└───utils                                         # Utility and testing examples - https://github.com/simplefoc/Arduino-FOC/tree/master/examples/utils
    ├───calibration                               # Motor and sensor calibration
    │   ├───alignment_and_cogging_test
    │   ├───find_kv_rating
    │   ├───find_pole_pair_number
    │   ├───find_sensor_offset_and_direction
    │   └───measure_inductance_and_resistance
    ├───communication_test                        # Communication interface testing
    │   ├───commander
    │   └───step_dir
    ├───current_sense_test                        # Current sensing testing
    │   ├───align_current_sense
    │   ├───generic_current_sense
    │   └───inline_current_sense_test
    ├───driver_standalone_test                    # Driver testing (without motor)
    │   ├───bldc_driver_3pwm_standalone
    │   ├───bldc_driver_6pwm_standalone
    │   ├───stepper_driver_2pwm_standalone
    │   └───stepper_driver_4pwm_standalone
    └───sensor_test                               # Sensor testing
        ├───encoder
        │   ├───encoder_example
        │   └───encoder_software_interrupts_example
        ├───hall_sensors
        │   ├───hall_sensor_example
        │   └───hall_sensor_software_interrupts_example
        └───magnetic_sensors
            ├───magnetic_sensor_analog_example
            ├───magnetic_sensor_i2c_example
            └───magnetic_sensor_spi_example