Simple FOC, but with Rust.

Still a heavy WIP. Getting close to a very basic const-voltage implementation for esp32.

One motivation is the prospect of, sometime down the line, there being a Rust option in which to explore the Simple FOC playground. To that end, some design principals that I try to think about:

• No suprises when moving between Arduino and Rust: Moving between the two should bring a sense of familiarity. It should feel like applying the same concepts, in familiar patterns, just using idioms that change with the language being used.
• Simplicity, Accesibility, and Educational Enjoyment: Simple FOC delliberately makes design and implementation decisions that prioritises ease of use and enjoyment, and I aim to follow their lead. This will often imply that in order to make using this library simple, the underlying code must bear the burden of managing complexity.
• Advanced usage: Though not a primary aim, a bonus acheivement would include suitability for more advanced and nuanced use, such as 3d printer firmware. For emphasis: this goal is secondary to the first two.

With respect to licence and assigning credit for work:

This project started as a direct rewrite of the Simple FOC library. This has changed a touch, as Rust idioms and C++ Arduino idoms are at times in conflict. With that said, the project has gotten to its current state with a lot of direct input from the SFOC people, and this project continues to draw heavily from the original works of the SFOC Arduino library.

At time of writing, this is a re-write of Simple FOC library. "We stand on the shoulders of giants" couldn't apply more here. Please refer to the Citations file, and the OG library here

Simple demo

cargo run --expample spinny each second, prints out the duty cycles to make a slowly rotating magnetic field

Supported platforms

None yet, but esp32 and esp32s3 are in the works

How to use this library.

Still working out that story, but here is where we are right now:

• cargo make check to check the code base
• cargo build in any of the projects in platforms to build for a platform

This is, essentially, the goal:

1. fork and clone this repo
2. cd platforms <your-chip>
3. trivially-easy task to assign gpio pins for motor control and motor feedback pins
4. cargo run to run a default, slow-spinning motor
5. plug in functions/modules/features/etc. to make your program less trivial
6. ???
7. profit