SimpleFOCShield release v2.0

Hey guys,

SimpleFOCShield v2.0 is finally out. I am pretty happy with the results both on Arduino UNO and Nucleo boards. Even though stm32 have much better performance true foc is possible using the Arduino UNO as well. :smiley:

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  • Low-cost: Price of €15 - Check the pricing
  • In-line current sensing: Up to 3Amps bidirectional
  • Integrated 5V regulator: Enable/disable by soldering pads
  • Max power 120W - max current 5A, power-supply 12-24V
    • Designed for Gimbal motors with the internal resistance >10 Ωs.
  • Stackable: running 2 motors in the same time
  • Encoder/Hall sensors interface: Integrated 3.3kΩ pullups (configurable)
  • I2C interface: Integrated 4.7kΩ pullups (configurable)
  • Configurable pinout: Hardware configuration - soldering connections
  • Arduino headers: Arduino UNO, Arduino MEGA, STM32 Nucleo boards…
  • Open Source: Fully available fabrication files - how to make it yourself
  • Plug & play: In combination with Arduino SimpleFOClibrary - github

You can find the new board in the git repo:

I’ve made a quick video today just as a quick demo of real foc using the shield:

Also I’ve made a video to show the process of ordering the shield from JLCPCB.

If you prefer to buy the fully assembled and tested version the SimpleFOCShieldv2.0 boards will be available soon in the shop.


Congratulations on the new version!

Great work!!!

Those current sensors are showing up at ~$3 so I’m guessing the price will be going up. How much of a difference do they make?

Honestly, I think the price will stay the same :smiley:
I have to make few more calculations before I can tell you exactly.
In any case, it will not go higher than 20€.

Nice! Glad to see the price will stay low.

How much difference do they make in performance? I have a small bunch of L6234 chips and wondering if I should add current sensing to my board.

Well done! And thanks for the jlcpcb video, i think it will help a lot of people new to order soldered boards.

The difference is a great question. So i did not expect much to be honest apart from being able to torque control the motors. And since these motors are usually gimbal motors with relatively low currents the difference in between current and voltage torque control are not too big.
Here are some pros and cons in my opinion, if there are people with more experience do not hesitate to extend this list :smiley:


  • Possibility to torque control the motor
  • possibility to limit the current
  • possible to measure the motor load directly
    • as a user intention reading
  • reduced cogging
  • higher rpm achievable voltage loop 12V: ~100rpm, current control 12V ~120rpm.
    • this is due to the better alignement of magnetic field


  • fast control loop needed at least 5kHz
    • not really suitable for Arduino - it can be done but a lot of benefits get lost
    • not really suitable for I2C sensors
  • more tuning parameters two more PID controllers + Low pass filters.
  • necessary to have a good resolution of ADC and current sensing.

I’m sure I’ve missed some :smiley:

Basically it is a good idea if you need:

  • precision torque control or current limiting
  • want a great high speed performance
  • or want to use the current as a force measurement interface toward people