# developement **URL:** https://community.simplefoc.com/c/developement/5.md?page=2 [Latest](https://community.simplefoc.com/latest.md) · [Categories](https://community.simplefoc.com/categories.md) · [Tags](https://community.simplefoc.com/tags.md) **Page:** 3 --- ## [Help getting started / basics!](https://community.simplefoc.com/t/help-getting-started-basics/7675)
**Author:** [@Ryanlm](https://community.simplefoc.com/u/Ryanlm)\ **Replies:** 7\ **Last updated:** [October 3, 2025, 11:16am UTC](https://community.simplefoc.com/t/help-getting-started-basics/7675 "2025-10-03T11:16:25Z")
My goal is to create a gimbal to hold a sensor array that is looking at/tracking an object. Pan up/down, spin left/right. I am new to FOC, but not electrical engineering. My MCU will be the ESP32-S3, the sensor array wil… --- ## [Encoder Alignment ](https://community.simplefoc.com/t/encoder-alignment/7648)
**Author:** [@Soheil\_Davoudi](https://community.simplefoc.com/u/Soheil_Davoudi)\ **Replies:** 1\ **Last updated:** [September 18, 2025, 7:09pm UTC](https://community.simplefoc.com/t/encoder-alignment/7648 "2025-09-18T19:09:22Z")
Hi. I am using incremental encoders, and as I understand it, the FOC algorithm requires alignment after every restart of the microcontroller. I can’t align at every startup because I have a load on the motor, and it can’… --- ## [Porting to STM32F302CCT6 with DRV8323R](https://community.simplefoc.com/t/porting-to-stm32f302cct6-with-drv8323r/7608)
**Author:** [@Hypercube](https://community.simplefoc.com/u/Hypercube)\ **Replies:** 1\ **Last updated:** [August 28, 2025, 10:30am UTC](https://community.simplefoc.com/t/porting-to-stm32f302cct6-with-drv8323r/7608 "2025-08-28T10:30:49Z")
I downloaded SImpleFOC and started porting code for STM32F302CCT6 connected to DRV8323R and 1kW BLDC in sensorless operation. Problem seem to be Arduino headers and dependencies. Not really needing Arduino code in this p… --- ## ["Failed to detect movement" during motor initialization - but sensor angle changes when turning by hand](https://community.simplefoc.com/t/failed-to-detect-movement-during-motor-initialization-but-sensor-angle-changes-when-turning-by-hand/7600)
**Author:** [@Cormac\_McCarthy](https://community.simplefoc.com/u/Cormac_McCarthy)\ **Replies:** 2\ **Last updated:** [August 26, 2025, 4:47am UTC](https://community.simplefoc.com/t/failed-to-detect-movement-during-motor-initialization-but-sensor-angle-changes-when-turning-by-hand/7600 "2025-08-26T04:47:37Z")
Components: Raspberry Pi Pico (Earle Philhower Arduino Core) 3x GBM5010-150T 90KV Gimbal Brushless Motor Motor drivers: SimpleFOC Mini v1.0 Sensors: AS5048A (SPI config) - Bench power supply set to 12v I … --- ## [Help needed - ESP32 C2/3/6 analogRead execution time](https://community.simplefoc.com/t/help-needed-esp32-c2-3-6-analogread-execution-time/7577)
**Author:** [@Antun\_Skuric](https://community.simplefoc.com/u/Antun_Skuric)\ **Replies:** 2\ **Last updated:** [August 21, 2025, 7:19pm UTC](https://community.simplefoc.com/t/help-needed-esp32-c2-3-6-analogread-execution-time/7577 "2025-08-21T19:19:25Z")
Hey guys, Unfortunately, I don’t own one of the esp32c2/esp32c3/esp32c6 boards I was wondering if some of you guys could help me testing :smiley: I would like to know what is the elapsed time of analogRead on that boar… --- ## [Unsigned long \_micros()](https://community.simplefoc.com/t/unsigned-long-micros/7573)
**Author:** [@vwsncr](https://community.simplefoc.com/u/vwsncr)\ **Replies:** 1\ **Last updated:** [August 20, 2025, 9:34am UTC](https://community.simplefoc.com/t/unsigned-long-micros/7573 "2025-08-20T09:34:53Z")
I don’t want use one interrupt to make the micros(). If any other way to fix? --- ## [Help needed - ESP32S3 analogRead execution time 🙋](https://community.simplefoc.com/t/help-needed-esp32s3-analogread-execution-time/2221)
**Author:** [@Antun\_Skuric](https://community.simplefoc.com/u/Antun_Skuric)\ **Replies:** 6\ **Last updated:** [July 28, 2025, 2:22pm UTC](https://community.simplefoc.com/t/help-needed-esp32s3-analogread-execution-time/2221 "2025-07-28T14:22:04Z")
Hey guys, Unfortunately, I don’t own one of the esp32s3 boards I was wondering if some of you guys could help me testing :smiley: I would like to know what is the elapsed time of analogRead on that board. So if someon… --- ## [BLDC motor closed loop problem](https://community.simplefoc.com/t/bldc-motor-closed-loop-problem/7481)
**Author:** [@Ricardo\_Calle](https://community.simplefoc.com/u/Ricardo_Calle)\ **Replies:** 0\ **Last updated:** [July 25, 2025, 12:36am UTC](https://community.simplefoc.com/t/bldc-motor-closed-loop-problem/7481 "2025-07-25T00:36:28Z")
Hello guys, Rick here I’m having problem with the closed loop implementation. I was using a Sin/Cos absolute encoder (the RM08 to be precise), but it didn’t seem to work. So I bought a common sensor like the AS5600 (the… --- ## [Haptic Feedback and LVGL](https://community.simplefoc.com/t/haptic-feedback-and-lvgl/7469)
**Author:** [@Jason\_Greenberg](https://community.simplefoc.com/u/Jason_Greenberg)\ **Replies:** 3\ **Last updated:** [July 23, 2025, 3:14pm UTC](https://community.simplefoc.com/t/haptic-feedback-and-lvgl/7469 "2025-07-23T15:14:10Z")
I am building a haptic knob style device and have been using some of the code in this thread to do detents and endstops using a SparkFun Brushless Motor Driver and an As5600 sensor. When I run my simpleFOC code on its o… --- ## [B-G431B-ESC1 + Platform IO : help needed on soft : not driving](https://community.simplefoc.com/t/b-g431b-esc1-platform-io-help-needed-on-soft-not-driving/7447)
**Author:** [@marc426](https://community.simplefoc.com/u/marc426)\ **Replies:** 9\ **Last updated:** [July 21, 2025, 10:13pm UTC](https://community.simplefoc.com/t/b-g431b-esc1-platform-io-help-needed-on-soft-not-driving/7447 "2025-07-21T22:13:51Z")
Hi everyone, Been trying to get a STM Discovery board to work with SimpleFOC in sensorless (FOC or openloop) but with very little succes so far. I’ve gone through the following : Made sure that the discovery / motor… --- ## [Espressif port of simplefoc](https://community.simplefoc.com/t/espressif-port-of-simplefoc/4368)
**Author:** [@Antun\_Skuric](https://community.simplefoc.com/u/Antun_Skuric)\ **Replies:** 4\ **Last updated:** [July 20, 2025, 6:46pm UTC](https://community.simplefoc.com/t/espressif-port-of-simplefoc/4368 "2025-07-20T18:46:18Z")
Hey guys, Recently esp guys from espressif have partially ported the simplefoc library to thier main repo. Here is the link: They have made quite a few changes to the low-level code and main classes. I was wondering … --- ## [Esp32s3 qtpy platformio SPI problem](https://community.simplefoc.com/t/esp32s3-qtpy-platformio-spi-problem/7444)
**Author:** [@Antun\_Skuric](https://community.simplefoc.com/u/Antun_Skuric)\ **Replies:** 3\ **Last updated:** [July 20, 2025, 1:18pm UTC](https://community.simplefoc.com/t/esp32s3-qtpy-platformio-spi-problem/7444 "2025-07-20T13:18:26Z")
Hi guys, I’m having a lot of trouble programming the qtpy esp32s3 using the platformio. More precisely I cannot get the SPI to work. Here is my current ini file: \[env:adafruit\_qtpy\_esp32s3\_nopsram\] board = adafruit\_qt… --- ## [initFOC failing while using find\_sensor\_offset\_and\_direction](https://community.simplefoc.com/t/initfoc-failing-while-using-find-sensor-offset-and-direction/7377)
**Author:** [@zoochini](https://community.simplefoc.com/u/zoochini)\ **Replies:** 1\ **Last updated:** [July 13, 2025, 2:40pm UTC](https://community.simplefoc.com/t/initfoc-failing-while-using-find-sensor-offset-and-direction/7377 "2025-07-13T14:40:50Z")
Hello! I am using a NUCLEO-64 STM32F446RE board, SimpleFOC Mini, a Hacker X-BL 52S motor and a MA782 magnetic sensor. I’ve been trying to implement position control, but the SimpleFOCDebug is telling me that InitFOC is … --- ## [Security Considerations in Motor Control Firmware – Am I Overthinking It?](https://community.simplefoc.com/t/security-considerations-in-motor-control-firmware-am-i-overthinking-it/7412)
**Author:** [@Sakuray](https://community.simplefoc.com/u/Sakuray)\ **Replies:** 2\ **Last updated:** [July 13, 2025, 11:27am UTC](https://community.simplefoc.com/t/security-considerations-in-motor-control-firmware-am-i-overthinking-it/7412 "2025-07-13T11:27:37Z")
Hey everyone, I have been experimenting with SimpleFOC for a custom BLDC motor setup & something is been on my mind. While most of my focus has been on control loops and tuning, I started wondering about the security si… --- ## [The motor reverses direction when holding the torque.](https://community.simplefoc.com/t/the-motor-reverses-direction-when-holding-the-torque/7408)
**Author:** [@Nguy\_n\_Anh\_Tu\_n](https://community.simplefoc.com/u/Nguy_n_Anh_Tu_n)\ **Replies:** 0\ **Last updated:** [July 9, 2025, 1:16pm UTC](https://community.simplefoc.com/t/the-motor-reverses-direction-when-holding-the-torque/7408 "2025-07-09T13:16:15Z")
I’m controlling a BLDC motor using the FOC algorithm. In speed control mode, the motor runs well at a certain speed, but when I try to hold the torque by hand, the motor suddenly spins in the opposite direction at full s… --- ## [Autodetect of motor](https://community.simplefoc.com/t/autodetect-of-motor/7399)
**Author:** [@rew](https://community.simplefoc.com/u/rew)\ **Replies:** 1\ **Last updated:** [July 9, 2025, 10:32am UTC](https://community.simplefoc.com/t/autodetect-of-motor/7399 "2025-07-09T10:32:30Z")
With a lot of “trouble” I’ve managed to get my config working. A lot was guessing howmany motorpoles my motor would have, guessing what P, I D parameters I should modify, and what good values would be. In the end, what … --- ## [Low side current sensing for stepper motors](https://community.simplefoc.com/t/low-side-current-sensing-for-stepper-motors/7235)
**Author:** [@vmnnk](https://community.simplefoc.com/u/vmnnk)\ **Replies:** 39\ **Last updated:** [July 8, 2025, 1:28am UTC](https://community.simplefoc.com/t/low-side-current-sensing-for-stepper-motors/7235 "2025-07-08T01:28:52Z")
Hello guys, I’ve recently noticed that the SimpleFOC’s low side current sensing support for stepper motors is currently incomplete and do not really work as expected. I decided to try looking into this issue and hopeful… --- ## [FOC Init Fails with iPower GM6208 (28 poles) + AMT103 Encoder + STM32 Nucleo F446RE](https://community.simplefoc.com/t/foc-init-fails-with-ipower-gm6208-28-poles-amt103-encoder-stm32-nucleo-f446re/7373)
**Author:** [@Jerome\_Pannetier](https://community.simplefoc.com/u/Jerome_Pannetier)\ **Replies:** 1\ **Last updated:** [July 2, 2025, 9:27am UTC](https://community.simplefoc.com/t/foc-init-fails-with-ipower-gm6208-28-poles-amt103-encoder-stm32-nucleo-f446re/7373 "2025-07-02T09:27:22Z")
Hi everyone, I’m currently facing an issue initializing FOC with the following setup: :wrench: Hardware setup: Motor: iPower GM6208-150T (Gimbal motor – 28 poles according to datasheet) Encoder: AMT103 with A/B output… --- ## [Feature request: add klipper MCU input mode](https://community.simplefoc.com/t/feature-request-add-klipper-mcu-input-mode/3034)
**Author:** [@davidelang](https://community.simplefoc.com/u/davidelang)\ **Replies:** 32\ **Last updated:** [July 1, 2025, 1:33am UTC](https://community.simplefoc.com/t/feature-request-add-klipper-mcu-input-mode/3034 "2025-07-01T01:33:20Z")
searching through the topics, I see that klipper has been mentioned a few times, but mostly in terms of an example of how to plan, or that the step/dir mode could be used to attach a simleFOC board to a controller runnin… --- ## [Gimbal motor losing control](https://community.simplefoc.com/t/gimbal-motor-losing-control/1333)
**Author:** [@Sai](https://community.simplefoc.com/u/Sai)\ **Replies:** 1\ **Last updated:** [June 26, 2025, 11:25pm UTC](https://community.simplefoc.com/t/gimbal-motor-losing-control/1333 "2025-06-26T23:25:13Z")
Hi, I was testing my new control board with 2804gimbal motor(12N14P, 7R Resistant) when i discovered something wrong with it. Configuration of the board is as below: MCU LGT8F328P(similar to atmega 328p) Driver Drv831… --- ## [Problems in Increasing Speed in FPGA based FOC Implementation](https://community.simplefoc.com/t/problems-in-increasing-speed-in-fpga-based-foc-implementation/7345)
**Author:** [@mkfoccommunity](https://community.simplefoc.com/u/mkfoccommunity)\ **Replies:** 0\ **Last updated:** [June 23, 2025, 10:04am UTC](https://community.simplefoc.com/t/problems-in-increasing-speed-in-fpga-based-foc-implementation/7345 "2025-06-23T10:04:55Z")
Hi all, I am currently working on implementation of FOC On FPGA. I am developing it by writing bare VHDL code, not using Matlab-Simulink or other block diagram based software. Referring this link for my 3phase BLDC PMS… --- ## [Help tuning GBM4108-120T with some load/inertia (central motor in setup)](https://community.simplefoc.com/t/help-tuning-gbm4108-120t-with-some-load-inertia-central-motor-in-setup/7310)
**Author:** [@Pompelli](https://community.simplefoc.com/u/Pompelli)\ **Replies:** 2\ **Last updated:** [June 21, 2025, 11:00am UTC](https://community.simplefoc.com/t/help-tuning-gbm4108-120t-with-some-load-inertia-central-motor-in-setup/7310 "2025-06-21T11:00:09Z")
Hi everyone, I’m working on a project using the GBM4108-120T BLDC motor, and I could use some help tuning it. This motor has a small load and some noticeable inertia. It’s the central motor in my setup (see attached … --- ## [Seeking Help: Motor moving one full rotation during initFOC() and then stopping permanently](https://community.simplefoc.com/t/seeking-help-motor-moving-one-full-rotation-during-initfoc-and-then-stopping-permanently/7272)
**Author:** [@Baidurya\_Das](https://community.simplefoc.com/u/Baidurya_Das)\ **Replies:** 1\ **Last updated:** [June 8, 2025, 10:18pm UTC](https://community.simplefoc.com/t/seeking-help-motor-moving-one-full-rotation-during-initfoc-and-then-stopping-permanently/7272 "2025-06-08T22:18:23Z")
I have connected a Maxon EC45 50W Motor + Encoder with a TI DRV8313EVM to control the velocity of the motor. The motor is rotating one full rotation during the initFOC() phase but then stopping permanently and not accept… --- ## [Newbie, almost got a working example](https://community.simplefoc.com/t/newbie-almost-got-a-working-example/7231)
**Author:** [@Theron\_Wierenga](https://community.simplefoc.com/u/Theron_Wierenga)\ **Replies:** 1\ **Last updated:** [May 30, 2025, 10:24pm UTC](https://community.simplefoc.com/t/newbie-almost-got-a-working-example/7231 "2025-05-30T22:24:53Z")
I’m using a Mini board, v. 1.0, small BDUAV 2204-260KV motor from Amazon, AMT103 encoder. I trying for target angle and have modified an example. When run I get movement, all in the same direction, four times and then th… --- ## [How are the PWM signals generated by an Arduino Uno?](https://community.simplefoc.com/t/how-are-the-pwm-signals-generated-by-an-arduino-uno/7230)
**Author:** [@Backflip](https://community.simplefoc.com/u/Backflip)\ **Replies:** 3\ **Last updated:** [May 23, 2025, 6:45pm UTC](https://community.simplefoc.com/t/how-are-the-pwm-signals-generated-by-an-arduino-uno/7230 "2025-05-23T18:45:16Z")
I have noticed the video on this link: https://docs.simplefoc.com/arduino\_simplefoc\_shield\_showcase As far as I understand this video, a simple form of FOC is utilized by the controls from an Arduino Uno. I know the i… --- ## [Frameless motor manufacturers](https://community.simplefoc.com/t/frameless-motor-manufacturers/7227)
**Author:** [@Antun\_Skuric](https://community.simplefoc.com/u/Antun_Skuric)\ **Replies:** 2\ **Last updated:** [May 23, 2025, 9:21am UTC](https://community.simplefoc.com/t/frameless-motor-manufacturers/7227 "2025-05-23T09:21:10Z")
Hi guys, Do you guys have experience with some of the motor manufacturers which make frameless motors (preferably low-cost, at least at scale \>1000)? Like Mosrac or Fulling? Did you work with some others? I’d be grat… --- ## [Network layer for SimpleFOC (Luos)](https://community.simplefoc.com/t/network-layer-for-simplefoc-luos/1602)
**Author:** [@Nico-Luos](https://community.simplefoc.com/u/Nico-Luos)\ **Replies:** 10\ **Last updated:** [May 23, 2025, 9:10am UTC](https://community.simplefoc.com/t/network-layer-for-simplefoc-luos/1602 "2025-05-23T09:10:07Z")
Hi everyone, I plan to create a code example combining Luos and SimpleFOC. At Luos, we are working on embedded microservices, or how to make multiple features (motor, sensor, app) across numerous boards quickly work to… --- ## [S4 - CurvePlanner (motion-planner)](https://community.simplefoc.com/t/s4-curveplanner-motion-planner/3964)
**Author:** [@Juan-Antonio\_Soren\_E](https://community.simplefoc.com/u/Juan-Antonio_Soren_E)\ **Replies:** 13\ **Last updated:** [May 18, 2025, 10:14pm UTC](https://community.simplefoc.com/t/s4-curveplanner-motion-planner/3964 "2025-05-18T22:14:47Z")
I’ve come across a paper describing how to implement 4th order s-curve motion planning. Let’s see how this math does on the G4. I will attempt to make a new class for it, since the existing TrapezoidPlanner code will no… --- ## [Closed-loop Control Issues with AS5600](https://community.simplefoc.com/t/closed-loop-control-issues-with-as5600/5295)
**Author:** [@MaxMakes](https://community.simplefoc.com/u/MaxMakes)\ **Replies:** 8\ **Last updated:** [May 15, 2025, 12:23am UTC](https://community.simplefoc.com/t/closed-loop-control-issues-with-as5600/5295 "2025-05-15T00:23:28Z")
Hello! I am currently trying to control the velocity of a T-Motor GB2208 with an Arduino and a SimpleFOC Mini driver. I am also using an AS5600 magnetic encoder. It’s like the kind on the small white PCB you can get on A… --- ## [Help with SimpleFOC – Motor not running smoothly](https://community.simplefoc.com/t/help-with-simplefoc-motor-not-running-smoothly/7186)
**Author:** [@carexch4](https://community.simplefoc.com/u/carexch4)\ **Replies:** 0\ **Last updated:** [May 14, 2025, 8:01am UTC](https://community.simplefoc.com/t/help-with-simplefoc-motor-not-running-smoothly/7186 "2025-05-14T08:01:55Z")
Hi everyone, I’m trying to get the SimpleFOC library working, and I’m using the following hardware setup: ESP32-S3-DevKitC-1-N32R8V Brushless Motor Driver TMC6300 T-EM3215D2450Y1R-BEZE (same motor used by smartknob) U… [Previous page](https://community.simplefoc.com/c/developement/5.md?page=1) [Next page](https://community.simplefoc.com/c/developement/5.md?page=3)