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Guides

Worked examples with code, from a first Python program to a mobile robot, a leg, a gravity-compensated arm and two motors coupled over a network, and the SimpleFOC library as an alternative firmware. The CAN commands and the Python library are the same on STEPFOC, so the code runs there unchanged.

  • Python: read a driver's position and speed over CAN
  • Mobile robot: two wheels driven from a game controller
  • Quadruped leg: the kinematics and control of a two-motor leg
  • Gravity compensation: hold a link against gravity with a current feedforward
  • Bilateral teleoperation: two motors that follow each other, with force feedback
  • SimpleFOC: running the SimpleFOC library on the Spectral Micro instead of the Spectral firmware

More examples are in the Spectral-BLDC-Python examples.

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