About this project

The Hex Mini FOC driver is an open-source hardware and software project designed for brushless DC (BLDC) mini gear motors and servos. It focuses on fine force control using Field Oriented Control (FOC), maintaining the current wave exactly 90 degrees out of phase to the EMF wave for maximum efficiency. The driver allows the motor to be commanded to track position, velocity, and/or force, utilizing hall sensors, EMF feedback, and I2C rotary sensors for position tracking. The project encompasses four main components: a brushless motor simulator that explains motor principles, the driver PCB schematic and manufacturing files, custom driver firmware featuring Kalman filter position tracking and FOC driving logic, and a driver control and monitoring webapp. Electrically, the system supports a motor voltage range of 6V to 28V with a maximum current of 5A, and operates on a nominal 3.3V I2C voltage. The repository also includes detailed development logs and circuit design notes, making it a comprehensive resource for hobbyists and engineers looking to build or understand advanced BLDC motor drivers.