S_Drive - small BLDC driver

S_Drive is small bldc driver based on L6234 Three phase motor driver.

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After seeing alot of compliant robotic arms and quadrupeds lately i decided i want to build something with compliant joints too. To do that i need to build quasi-direct drive .

Motors ,encoders and gearboxes are no problem to find and assemble and that they are
relatively cheap. On the other hand there are not many open source bldc drivers that can do what i want to do and on top of that ones that can are really expensive.

That is why i decided to build my own driver . I used really cheap solutions , like L6234 Three phase motor driver that is usually used in gimbals and dvd drives. It can output only 5A , but that is not a huge problem because we will use gimbal BLDCs for our quasi direct drives so we have wide range of motors to buy. MCU is STM32F103C .

White board is prototype board and in future board will be smaller and maybe some functions will be taken out.

Firstly i want to say that huge inspiration and help for this project was blog post from berryjam. In his tutorial he was running his bldc in open loop without encoder , hall sensor feedback or back emf. That works but by doing that motor is running like stepper and draws ALOT of current. To do that at slow speed we need to use sine waves profiles or saddle profiles ( Space vector) like he did in his tutorial. 

Short video of position control.

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