Commit 4d8be78e authored by Jake Read's avatar Jake Read

some doc

parent 8cc75ffe
...@@ -4,13 +4,23 @@ ...@@ -4,13 +4,23 @@
See: [Circuit Development](/circuit), [Code Development](/embedded), and [Education](/education) See: [Circuit Development](/circuit), [Code Development](/embedded), and [Education](/education)
# Todo ## Status
Update doc for other humans. Boot new hardware, do spindle speed control, test, use in machine. New boards are in, waiting for time...
## Next Steps
- stuff one board
- re-hash code for different pinouts, with updated libraries
- try speed control with IQ-less FOC (simple sine commutation)
- if this is not satisfactory (field lag due to inductance), use 6-step comm
- implement speed control network command
- re-hash documentation
- use to control a spindle in a machine
## What ## What
The MMKBLDC Project is my attempt at building a decent controller for Brushless Motors. BLDCs are excellent sources of mechatronic actuation: they're [power dense](https://jakeread.pages.cba.mit.edu/actuators/) and serve the motion control justice present in most state of the art robotics. However, controlling them is non-trivial, and requires the combination of some EE expertise, some control expertise, and some hardware know-how. The MMKBLDC Project is my attempt at building a decent controller for Brushless Motors. BLDCs are excellent sources of mechatronic actuation: they're [power dense](https://jakeread.pages.cba.mit.edu/actuators/) and serve the motion control justice present in most state of the art robotics. However, controlling them is non-trivial, and requires the combination of some EE expertise, some control expertise, and some hardware know-how.
![board](/images/board.png) ![board](/images/board.png)
![schematic](/images/schematic.png) ![schematic](/images/schematic.png)
...@@ -49,4 +59,4 @@ In the [circuit dev page](/circuit) you'll find doc on the BOM for the MKBLDC, a ...@@ -49,4 +59,4 @@ In the [circuit dev page](/circuit) you'll find doc on the BOM for the MKBLDC, a
# Footnotes # Footnotes
1. working on it 1. working on it
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