# Error compiling to SAMD21 (bare chip) **URL:** https://community.simplefoc.com/t/error-compiling-to-samd21-bare-chip/3440 **Category:** hardware support **Tags:** samd21 **Created:** [June 4, 2023, 5:43pm UTC](https://community.simplefoc.com/t/error-compiling-to-samd21-bare-chip/3440 "2023-06-04T17:43:10Z") **Posts on this page:** 1 **Showing post:** 8
### Author: ![AdinAck](https://community.simplefoc.com/user_avatar/community.simplefoc.com/adinack/32/1242_2.png) [@AdinAck](https://community.simplefoc.com/u/AdinAck) #### Post date: [June 12, 2023, 3:40pm UTC](https://community.simplefoc.com/t/error-compiling-to-samd21-bare-chip/3440/8 "2023-06-12T15:40:42Z")
Very cool! Glad you could get it working. It looks like you milled the PCBs yourself? If that is the case that is awesome! I do highly recommend you investigate PlatformIO, it will make developing for Arduinos a much calmer experience to say the least 😅 Also, this could be nothing, but in that video it looked to me like the motors were cogging a bit? I don’t think that 3D printed arm was so heavy it would cause that. Would your input voltage happen to be _lower_ than what you set it to be in SimpleFOC? Perhaps I am seeing things, or it is an artifact of your PID terms, but it looked to behave a little wonky to me. Maybe get a second opinion from @runger. Nevertheless, cool project, glad to see you got it done in time, welcome to the FOC revolution! --- _[View the full topic](https://community.simplefoc.com/t/error-compiling-to-samd21-bare-chip/3440)._