驱动器开发：开源库汇总

ODrive

相关链接：https://odriverobotics.com/
https://hackaday.io/project/11583-odrive-high-performance-motor-control/log/40702-boards-and-development

Currently the firmware supports the following:

1. Position, Velocity, and Current control modes.
2. Automatic identification of motor parameters (Inductance, Resistance)
3. Realtime USB communication (>4000 floats/sec) to Python host program, which you can interface to your own application.
4. Live-plotting of many variables, including position, speed, current, control effort: extensible to expose your own variables.
5. UART communication with an easy to use Arduino Library.
6. Step/Direction input, for replacing stepper motor drivers.
7. Trajectory generation and tracking.
8. Absolute encoders.
9. Commands over CAN.
10. Hall effect sensored motors (instead of encoder).
11. PWM input.
12. Encoders with Index pulse.
13. USB Bootloader.

VESC

http://vedder.se/2015/01/vesc-open-source-esc/
https://vesc-project.com/
https://blog.youkuaiyun.com/fei_yang_yf/category_9166616.html

Arduino-FOC

http://simplefoc.com/
https://github.com/byDagor/Dagor-Brushless-Controller

其他

https://gitee.com/wojialaomuzhu/foc-tutorial.git
https://github.com/ToanTech/Deng-s-foc-controller
https://github.com/byDagor/Dagor-Brushless-Controller