From 894ba8c0d31359e689778f65fecaaf8bab90e2f1 Mon Sep 17 00:00:00 2001
From: Ramy Wahib <ramy.wahib99@gmail.com>
Date: Sat, 13 Jun 2026 16:26:20 -0400
Subject: [PATCH] rebasing

---
 embedded/STM32/app/src/main.cpp | 47 +++++++++++++++++++++++++++++++++
 embedded/STM32/platformio.ini   |  7 +++--
 2 files changed, 52 insertions(+), 2 deletions(-)
 create mode 100644 embedded/STM32/app/src/main.cpp

diff --git a/embedded/STM32/app/src/main.cpp b/embedded/STM32/app/src/main.cpp
new file mode 100644
index 00000000..9c9281c5
--- /dev/null
+++ b/embedded/STM32/app/src/main.cpp
@@ -0,0 +1,47 @@
+#include <SimpleFOC.h>
+
+// SENSOR
+Encoder sensor = Encoder(2, 3, 2048);
+void doA(){sensor.handleA();}
+void doB(){sensor.handleB();}
+
+// DRIVER
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+
+// CURRENT SENSE (Optional)
+InlineCurrentSense current_sense = InlineCurrentSense(0.01, 50, A0, A2);
+
+// MOTOR
+BLDCMotor motor = BLDCMotor(11);
+
+// USER INTERFACE
+Commander commander = Commander(Serial);
+void onMotor(char* cmd){ commander.motor(&motor, cmd); }
+
+void setup() {
+  Serial.begin(115200);
+
+  sensor.init();
+  sensor.enableInterrupts(doA, doB);
+
+  driver.voltage_power_supply = 12;
+  driver.init();
+
+  current_sense.linkDriver(&driver);
+  current_sense.init();
+
+  motor.linkSensor(&sensor);
+  motor.linkDriver(&driver);
+  motor.linkCurrentSense(&current_sense);
+  motor.init();
+  motor.initFOC();
+
+  commander.add('M', onMotor, "motor");
+  Serial.println("Motor ready! Type 'M' for motor commands");
+}
+
+void loop() {
+  motor.loopFOC();
+  motor.move(motor.target);
+  commander.run();
+}
\ No newline at end of file
diff --git a/embedded/STM32/platformio.ini b/embedded/STM32/platformio.ini
index 024b6f0e..021d9975 100644
--- a/embedded/STM32/platformio.ini
+++ b/embedded/STM32/platformio.ini
@@ -65,15 +65,18 @@ build_flags =
 
 [env:app]
 platform = ststm32
+lib_deps =
+    simplefoc/SimpleFOCDrivers@^1.0.8
+    askuric/Simple FOC@^2.3.4
 board = nucleo_g474re
 framework = stm32cube
 build_src_filter = +<../app/> -<*>
 board_build.ldscript = $PROJECT_DIR/app/src/linkerscript.ld
 extra_scripts = pre:rename_bin.py
 	linker_flags.py
-build_flags = 
+build_flags =
 	-mfpu=fpv4-sp-d16
 	-mfloat-abi=hard
 	-Wl,-Map,app.map
 	-Ilib/FreeRTOS-Kernel/include
-	-Ilib/FreeRTOS-Kernel/FreeRTOS-Port
+	-Ilib/FreeRTOS-Kernel/FreeRTOS-Port
\ No newline at end of file