# \#theory

**URL:** https://community.simplefoc.com/tag/theory/54.md

[Latest](https://community.simplefoc.com/latest.md) · [Categories](https://community.simplefoc.com/categories.md) · [Tags](https://community.simplefoc.com/tags.md)

---

## [Roll motor position Theory](https://community.simplefoc.com/t/roll-motor-position-theory/7880)

<div class="topic-metadata">

**Author:** [@Kamalesh](https://community.simplefoc.com/u/Kamalesh)\
**Replies:** 1\
**Last updated:** [December 23, 2025, 7:50am UTC](https://community.simplefoc.com/t/roll-motor-position-theory/7880 "2025-12-23T07:50:56Z")

</div>

Hi, I am designing a 3-axis gimbal and facing some challenges. For the pitch axis, support on the opposite side prevents overshoot. The yaw axis, being on top, has the center of gravity positioned to handle the weight l…

---

## [Understanding various currents and their usage in torque control](https://community.simplefoc.com/t/understanding-various-currents-and-their-usage-in-torque-control/7493)

<div class="topic-metadata">

**Author:** [@Papouc](https://community.simplefoc.com/u/Papouc)\
**Replies:** 5\
**Last updated:** [July 28, 2025, 10:17pm UTC](https://community.simplefoc.com/t/understanding-various-currents-and-their-usage-in-torque-control/7493 "2025-07-28T22:17:43Z")

</div>

Hello there, I finally received my new driver boards with current sensing hardware (it’s like fifth take :smiley:). While being super happy that the driver redesigned to use STM32 is finally working I found myself strug…

---

## [Zero electrical angle in torque mode](https://community.simplefoc.com/t/zero-electrical-angle-in-torque-mode/6725)

<div class="topic-metadata">

**Author:** [@Papouc](https://community.simplefoc.com/u/Papouc)\
**Replies:** 4\
**Last updated:** [February 12, 2025, 11:50pm UTC](https://community.simplefoc.com/t/zero-electrical-angle-in-torque-mode/6725 "2025-02-12T23:50:56Z")

</div>

Hi, I have a question about expected behavior of torque control mode. Specifically I am using the voltage mode in torque control loop. The motor behaves rather random after every reboot of the driver. Let me explain :D…

---

## [Accuracy limit for FOC](https://community.simplefoc.com/t/accuracy-limit-for-foc/6560)

<div class="topic-metadata">

**Author:** [@JirikP](https://community.simplefoc.com/u/JirikP)\
**Replies:** 5\
**Last updated:** [January 15, 2025, 12:10pm UTC](https://community.simplefoc.com/t/accuracy-limit-for-foc/6560 "2025-01-15T12:10:39Z")

</div>

Hi, i co-own small dev company in CZ and despite looking for info about BLDC motors and control in all the big places as TI, NXP or Trinamic, this project got me far better information than any other page and support tic…

---

## [Question about definition of radians when using a linear motor](https://community.simplefoc.com/t/question-about-definition-of-radians-when-using-a-linear-motor/3602)

<div class="topic-metadata">

**Author:** [@zbaltzer](https://community.simplefoc.com/u/zbaltzer)\
**Replies:** 10\
**Last updated:** [July 24, 2023, 10:06am UTC](https://community.simplefoc.com/t/question-about-definition-of-radians-when-using-a-linear-motor/3602 "2023-07-24T10:06:44Z")

</div>

I have a linear motor I’m attempting to drive with the FOC library - the forcer, the part that moves, and contains the electromagnets for generating movement, is 2.7 inches in length. While the track of permanent magnets…

---

## [FOC Algorithm Flow Chart](https://community.simplefoc.com/t/foc-algorithm-flow-chart/2897)

<div class="topic-metadata">

**Author:** [@FOCLearner](https://community.simplefoc.com/u/FOCLearner)\
**Replies:** 12\
**Last updated:** [February 20, 2023, 4:57pm UTC](https://community.simplefoc.com/t/foc-algorithm-flow-chart/2897 "2023-02-20T16:57:54Z")

</div>

I have created the flow chart for FOC, could you please review and let me know it is correct or modifications to be done. Please help.