Introduction and thanks!

, ,
1

Hi everyone,

I’m new to SimpleFOC, but already quite familiar with PMSM FOC control for robotics. I’ve been really impressed by the project—congratulations to the team and community!

Together with a colleague, I’m working on high-performance motor controllers that we use for legged robotics at the LAAS-CNRS lab in France. GitHub - open-dynamic-robot-initiative/open-motor-driver-initiative: Open-source drive for brushless motors, following the open dynamic robot initiative (And it can’t run SimpleFOC since it is based on a TI DSP.)

image
image959×959 84.6 KB

Here’s an example of our work in action: https://www.youtube.com/watch?v=G79-1CAZcNY

We use the same setup for teaching a robotics course involving 2-DoF planar robots. I’ve recently been exploring more affordable alternatives for teaching purposes, which is what led me to SimpleFOC.

In just a short time, I was able to get a motor running using a B-G431B-ESC1 board with current sensing—thank you for the great work! I also built a simple GUI to help tune the current loop; I plan to share it on GitHub soon. Here’s a quick demo: https://www.youtube.com/watch?v=dwAwtVeQChw Maybe similar tools already exist around Simple FOC?

I’ve also encountered some strange issues, which I’ll describe in a separate post.

Thanks again,
Thomas Flayols.

4 Likes
2

Hi @thomasfla!

Welcome to the community, your robots have poped up many times in our forum and if I remember correctly @David_Gonzalez’s robots have been influenced by solo (DAGR - Quadruped Robot) too :smiley:

It’s a shame that the TI does not have the Arduino support, we would be happy to adapt the SimpleFOC for their MCUs as well. But yeah, the target audience is probably not the same.

Do you have some code for this?
We do have two official GUIs which are both a bit underdevelopped at the moment probably.

If you have some better solutions we’d be happy to integrate them and help in the development.