Using SimpleFOC Drivers with OpenPnP

[Isaac Chiu]

Hi Everyone, 

I built and am running Bing's microSMT. I've recently modded some optical linear encoders on, and decided I'd try upgrading the XY motion system to use FOC, as I can then run closed loop control with both the magnet on the motor shaft + optical encoder. I've finished PnP'ing and done a quick test of the Lemon Pepper Stepper Driver: https://github.com/VIPQualityPost/lemon-pepper-stepper which seems to work great. I'm talking to the driver over USB/Serial.

I'd like to ask if people have integrated SimpleFOC (most likely the commander interface: https://docs.simplefoc.com/commander_interface ) with https://github.com/openpnp/openpnp/wiki/Advanced-Motion-Control and if not, what would be the best way to do so? 


Isaac