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.
bulletproof commutation is encoder-based - low speed, at stall, with variable motors, etc, electromechanical sensing is always buggy. encoder perhaps not fast enough to commutate every cycle, so we need to write a filer / estimator that continues rolling the commutation cycle forward with only periodic input from the encoder - i.e. we contantly estimate speed, update that estimation every time we sample the encoder, commutate according to that estimation
# Notes
- read shane colton's pdf on sensorless field oriented control, and his park-transform free FOC solution: sounds cool. finish phase search algorithm.
