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This repository implements Field Oriented Control (FOC) for stock hoverboards. Compared to the commutation method, this new FOC control method offers superior performance featuring: This repository implements Field Oriented Control (FOC) for stock hoverboards. Compared to the commutation method, this new FOC control method offers superior performance featuring:
- reduced noise and vibrations - reduced noise and vibrations
- smooth torque output - smooth torque output and improved motor efficiency. Thus, lower energy consumption
- improved motor efficiency. Thus, lower energy consumption
- field weakening to increase maximum speed range - field weakening to increase maximum speed range
This new firmware offers 3 control modes:
- **VOLTAGE MODE**: in this mode the controller applies a constant Voltage to the motors
- **SPEED MODE**: in this mode a closed-loop controller realizes the input target speed by rejecting any of the disturbance (resistive load) applied to the motor
- **TORQUE MODE**: in this mode the target torque set by the user is realized. This mode enables motor "freewheeling" when the torque target is "0".
**NOTE**: In all the modes, the controller features maximum motor speed and maximum motor current protection. This brings great advantages to fulfil the needs of many robotic applications while maintaining safe operation.
## Firmware architecture ## Firmware architecture
The main firmware architecture including: The main firmware architecture including:
- **Estimations**: *estimates the rotor position, angle and motor speed based on Hall sensors signal* - **Estimations**: estimates the rotor position, angle and motor speed based on Hall sensors signal
- **Diagnostics**: *implements error detection such as unconnected Hall sensor, motor blocked, MOSFET defective* - **Diagnostics**: implements error detection such as unconnected Hall sensor, motor blocked, MOSFET defective
- **Control Manager**: *manages the transitions between control modes (Voltage, Speed, Torque)* - **Control Manager**: manages the transitions between control modes (Voltage, Speed, Torque)
- **FOC Algorithm**: *implements the FOC strategy* - **FOC Algorithm**: implements the FOC strategy
- **Control Type Manager**: *Manages the transition between Commutation and FOC Algorithm* - **Control Type Manager**: Manages the transition between Commutation and FOC Algorithm
![Firmware architecture](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/FW_architecture.png) ![Firmware architecture](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/FW_architecture.png)

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