Haptic interface using brushless motor and FOC

Just showing off my results:


A gimbal BLDC motor is controlled with an Arduino in different modes, emulating a lever or knob that can behave in many ways: spring loaded with different strenghts, different setpoints, torque feedback to resemble notches or mechanical positions, and behave as a L/R balance knob or a boat forward/stop/reverse control lever.

That is very nice, Is this a 6 step trapezoidal commutation or sinusoidal pwm ? Is it possible to share the code of this?

its PWM, the code is a mess, but I will try to clean it an post it somewhere, keep in touch!