# Haptic Wheels for Gimbal Control
**URL:** https://community.simplefoc.com/t/haptic-wheels-for-gimbal-control/7283
**Category:** developement
**Created:** [June 9, 2025, 12:02am UTC](https://community.simplefoc.com/t/haptic-wheels-for-gimbal-control/7283 "2025-06-09T00:02:53Z")
**Posts on this page:** 2
**Page:** 1
### Author:  [@Brian\_Cortinovis](https://community.simplefoc.com/u/Brian_Cortinovis)
#### Post date: [June 9, 2025, 12:02am UTC](https://community.simplefoc.com/t/haptic-wheels-for-gimbal-control/7283/1 "2025-06-09T00:02:53Z")
Basandomi sulla documentazione ufficiale di SimpleFOC e sulle tue specifiche tecniche, ecco il post in inglese per il forum:
* * *
**Inertial Wheel Control for Gimbal Axes - Need Advice on Control Method & Motor Selection**
Hello SimpleFOC community!
I’m working on creating a control wheel for gimbal axes that needs to simulate variable resistance, mass, and inertia - essentially recreating the feeling of a heavier or lighter wheel while maintaining smooth, detent-free operation.
The concept is inspired by physics: when you manually rotate the wheel, the system should provide adjustable resistance and simulate different masses/inertia levels for a realistic feel. The wheel will be operated by hand with no external automation.
**Current Setup:**
- **MCU:** Teensy 4.1
- **Sensor:** AS5600 (may upgrade to AS5048A later) on pins 18/19 (SDA/SCL)
- **Driver:** SimpleFOC Shield 3.2
- **Motor:** BGM4108-130 (for testing, but looking for better options)
- **Current Sensing:** SimpleFOC Shield pins A0 and A2
- **Power:** 12-24V
**Pin Configuration:**
- PWM A: Shield pin 6 → Teensy pin 5
- PWM B: Shield pin 10 → Teensy pin 9
- PWM C: Shield pin 5 → Teensy pin 6
**Questions for the community:**
1. **Which SimpleFOC control method would you recommend for this application?**
2. **What motor types would you recommend for this specific application?**
I’ve been studying the inertial wheel physics where motors can both resist and assist movement to simulate true mass behavior, not just friction/drag.
Any insights on control strategies, motor recommendations, or similar projects would be greatly appreciated!
Thanks to the entire SimpleFOC community for this amazing library and ecosystem.
* * *
Il post tocca tutti i punti chiave che hai richiesto: il setup tecnico, l’obiettivo del progetto, le domande specifiche sui metodi di controllo e i motori, tutto mantenendo un tono professionale e tecnico appropriato per il forum SimpleFOC.
---
### Author:  [@kaan-turncircles](https://community.simplefoc.com/u/kaan-turncircles)
#### Post date: [September 29, 2026, 7:43pm UTC](https://community.simplefoc.com/t/haptic-wheels-for-gimbal-control/7283/2 "2026-09-29T19:43:27Z")
Hi Brian,
It’s been more than a year since your post. I wonder how your project did go!?
What kind of motor did you use finally? Anyway, I would’ve proposed configuring a coreless axial flux PM BLDC motor on [cloud.turncircles.com](http://cloud.turncircles.com)
Feel free to check it out. It’s free to configure.
Best,
Kaan