Bluepill BLDC FOC Lab
Drive the Bluepill controller, compare measured behavior with commanded behavior, and jump quickly between closed-loop, open-loop, vector, and phase-map tests.
Connection
Disconnected
Controller
—
Modulation
—
Voltage Limit
—
Current Velocity
0.00
rad/s
Target Velocity
0.00
rad/s
Rolling trace of measured velocity from FOC telemetry.
Polling
Live at 200 ms
Polling Interval
200 ms
Status
Connection Status
Disconnected
Last Update
N/A
Alignment Offset
—
FOC Status
—
Control Mode
—
Modulation
—
Voltage Limit
—
Uq Saturated
—
Debug Console
Motor Control
Velocity
Position
Modulation
Open-Loop Tools
Bring-up Notes
Bring-up workflow: Start with vector tests, then open loop, then closed loop.
If all vector tests feel the same, treat that as a likely hardware or driver-mode issue.
PID Tuning
Velocity
Proportional
Integral
Derivative
Tuning
Status:
Idle
Position
Position-to-velocity gain
Measured-velocity damping term
Tuning
Status:
Idle
Motion Profile
Velocity accel (rad/s²)
Position velocity cap (rad/s)
Position accel (rad/s²)
Position decel (rad/s²)
Torque Assist
Low-speed feedforward voltage
Fade out by this velocity (rad/s)
FOC Debug
Bring-up Tools
Low-Velocity Bias
Extra low-speed torque bias
(V)
Fade out by this velocity
(rad/s)
Target Velocity:
—
Actual Velocity:
—
Velocity Error:
—
PID Output (Uq):
—
PWM A:
—
PWM B:
—
PWM C:
—
PWM Period:
—
Diagnostics
Loop Count:
—
Messages Sent:
—
Messages Failed:
—
Encoder Angle:
—
Encoder DMA Callbacks:
—
Callback Rate:
—
I2C Errors:
—
DMA Starts:
—
Motor Running:
—