General use question

I’m looking at using SimpleFOC in what will hopefully become a force feedback controller (a strange 1 axis sliding thing for a somewhat specialized application) but I’m happy for it to start much simpler. I’m not looking for detailed answers about how to implement this, just verification that i generally understand what can be achieved with SimpleFOC.

To start i would just like to start with the motor centering the controller and applying more resistance the further you go from center. I plan on using an AS5600 absolute encoder and controlling it with some ESP32 variation and a driver TBD, maybe some Chinese power shield, and a low Kv BLDC.

My basic understanding from reading the documentation is that by using position control to a set angle (coresponding to center) and then modify the torque limit based on the angle error should produce the basic effect I’m looking for. Is this an acurate understanding?


Welcome to the forum.

You mean you need to model a linear elastic coefficient with a torsional coefficient?


Sounds about right. What i am envisioning is a handle that can slide side to side with a timing belt attached to either end which goes around a drive pully.

I’ve already made a version of this controller without the motor using an AS5600 as a position sensor outputting as a BT controller and 2 bungee cords as the centering force.

Ultimately the simple version of my question is: in closed loop positioning I can adjust the torque limit on the fly to change how hard it is to overcome the motor resistance to moving from a set position?

Yes. You could do that inside the arduino loop.