Introduction

This library is designed to support the MsterFOC Dual Motor control board. The whole project is the Final Year Project of Zexing Zhao (Alfred John).

Functions provided including:

Encoder angle feedback functions of Photoelectric encoders, PWM encoders, and I2C encoders.
ADC phase current sampling, filtering, and current reconstruction function.
Rotor angle calibration function.
Coordinate Transformation functions consisting Clarke, Park transformation and their inverse forms.
SVPWM calculation function.
PID functions with anti-integral saturation and output limiting features.
FOC open loop functions.
FOC close loop functions including current, speed and position mode.
Serial port data feedback functions.
Control mode selection function.
User application functions.
Specifically, double motor operation functions including dual motor drag control function, force feedback function, and multiple gear switching function.

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