simplefoc_vesc

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## VESC on Arduino - 1kW of Brushless Power

This is the code that goes alongside this youtube video:
https://youtu.be/B5qq-aBI2XA

In the video a VESC 4.1.2 clone is tested with Arduino / PlatformIO code using [SimpleFOC](https://simplefoc.com) library.  It is tested in velocity and angle control mode.

This replaces the VESC firmware with custom code you write for your robotics projects.

Warning: If you flash custom code onto VESC board then it can be difficult to return to VESC firmware.  To return you will need to find a USB bootload and reflash (search for BLDC_4_BL_AND_MAIN_MERGED.hex).  Without doing this vesc tool won't detect your board.

### Wiring
The video has a Vec 4.1.2 clone connected to hall sensors, SWD and Serial FTDI 
![Wiring](https://raw.githubusercontent.com/owennewo/simplefoc_vesc/main/flipsky-4.2.0.png)

### Ports and Pins

Below is the theoretical connectivity possible with this board.  Much of it is untested.
![Pins](https://raw.githubusercontent.com/owennewo/simplefoc_vesc/main/flipsky-4.2.0-ports.png)

### Tested Ports

- working
   - USART6 - tested (works)
   - HALLS - tested (works)
   - I2C2 - tested (working with mpu6050)
   - SerialUSB - tested (working)
   - SWD - tested (working with stlink)
 - not working 
   - I2C1 - tested (not working)
   - USART1 - tested (not working)
 - untested
   - Programming over USB - tried and failed (might need a dfu boatloader?)
   - SPI1 - untested
   - CAN - not tested

simplefoc_vesc

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