# STEP MOTOR FOC

## Overview

The **step motor foc** project description Stepper motor control using vector modulation.
- Use the **FOC** control algorithm
- Trapezoidal acceleration and deceleration curves
- The current waveform is as follows, a sine wave with a phase difference of 90 degrees
![](doc/step_motor_current.png)

## Configurations

- 42 Stepper Motor, 24v, 50 Pair of Poles.

- Stepper motor driver board **24V_STEP_NONE_2A**.
    - plug J2 and J4
    - connect M1 to motor

- Plugged into the driver board via the motor interface

## Running the demo

The stepper motor switches forward and reverse speed without stopping, and the serial port prints speed information.

The serial console message is as follows:

```console

step motor demo.
speed: 1 r/s.
speed: -2 r/s.
speed: 3 r/s.
speed: -4 r/s.
speed: 5 r/s.
speed: -6 r/s.
speed: 1 r/s.
speed: -2 r/s.
speed: 3 r/s.
speed: -4 r/s.
speed: 5 r/s.
speed: -6 r/s.
speed: 1 r/s.
speed: -2 r/s.
speed: 3 r/s.

```

```{warning}

- Pay attention to the current size, when abnormalities occur, please cut off the power at any time

- Pay attention to the temperature of the stepper motor in long-term operation.

```