thanks,
I want to use BDLC motors (with encoders) as replacements for stepper motors.
I presume the control will be via PID.
I am not in a hurry.
The Topic is to hopefully discuss the methods how this could be done. 

The second question relates to your current ESC project and code, to implement fwd / rev, i presume I would need to capture min & max ranges of PWM, and set the zero speed in the middle, then if PWM is lower than middle, set the steps of the h-bridge in the reverse order?

(South Africa is going into lockdown on thursday evening, so i need to buy enough components to build your ESC on proto board before then). At least i will have plenty of time to experiment!

Hi all,
First off brilliant tutorial by Electronoob! (hmmm how do you tag someone?) - well thought out and prepared simple explanation to a complex subject. Bravo!

Background to Question...
I have been trying to find an affordable alternative to DC servo's,  as i want to move up from Steppers.

However most of the CNC controllers out there use the STEP/DIR protocol to instruct the drivers to move the motors.

There is an open source esc called oDrive https://odriverobotics.com/ that does this very well, but it is again quite costly, even the copy from Aliexpress.

Now the question...
Is there a standard strategy to perform closed loop and correction calculations? 

Process as i see it:

• controller sends step & dir pulses to Driver.
• Closed loop controller (CLC) passes these pulses to driver part of circuit.
• CLC also updates new desired delta / position of axis
• CLC waits a certain time for axis to move
• CLC reads encoder to validate that axis has moved to desired position.

if axis has not moved,

• CLC keeps recording the desired position (with more incoming movement pulses)
• CLC keeps trying to move axis to newly updated Required position.v
  
• if Threshold is exceeded return Error /  fault to controller and E-Stop.

hmm seems decimal list not working!

And is there interest in including this into the ESC project? 
Specifically for Closed Loop Servo using BDLC and Encoders?

Also i noted the oDrive has a Braking Resistor, what is this for and how does one implement this into the ESC?

Sorry for the looooong question

many thanks
RobZ