BLDC Driver Board
Why
One of the technologies fundamental to robotics is Field Oriented Control of BLDC motors. If I wanted to understand robotic technology and ultimately create my own, I had to learn by taking on the problem of creating a driver board for my motors and actuators. This would also create a good base for me to work on more advanced projects with, using my own motion control circuitry.
I designed this board in Eagle, learning many lessons along the way. I learned from other open-source driver board projects, such as VESC, ODrive, and SimpleFOC, the later of which I ended up using as a basis for my firmware.
How
I intended this project to be a first iteration, so I based this board on a development platform I was familiar with, the Teensy microcontroller. In the future I will move to a STM32 architecture, along with other improvements.
Despite this board being a quick first iteration, and consequently requiring some bug fixing, the project was very successful! All the features, including current sensing worked and it served as a working development platform for my FOC firmware and as a integral part in further projects.
