They’ve taken the field-oriented control algorithm and encapsulated it into a compact Arduino library, added a host of examples, and minted a stackable BLDC motor control shield to boot.

Best of all, the entire package will only run you about $20 in parts–including the position sensor! “Another BLDC motor controller ... as the chip inside the Arduino Leonardo.

The task of position control will be discussed for the case of a linear servo motor. To begin with, the mathematical function governing the PID controller’s operation is presented. We’ll show ...