SparkFun IoT Brushless Motor Driver (ESP32 WROOM, TMC6300)
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The SparkFun IoT Brushless Motor Driver is a powerful, easy-to-use motor driver that can control any 3-phase BLDC with built-in WiFi and Bluetooth® capabilities! However, with our on-board [Three Phase Brushless Gimbal Motor](https://www.sparkfun.com/products/20441), you can be sure of getting the best performance and reliability without needing to find your own motor. It features the TMC6300 from ADI + Trinamic, a high-performance motor driver that allows you to control the motor using a microcontroller, such as the ESP32 WROOM, which is included on the board. The SparkFun IoT Brushless Motor Driver is perfect for various IoT applications, such as controlling robots, drones, and other high-performance devices.
The TMC6300 is a powerful, easy-to-use three-phase motor driver with up to 2A (1.4ARMS) of total drive current. Separate high-side and low-side control of the three half-bridges allows for incredible control of each phase of the [motor commutation](https://fab.cba.mit.edu/classes/865.21/topics/power_electronics/commutation /#bldc-commutation). We\'ve found the [*Arduino Simple Field Oriented Control*](https://docs.simplefoc.com/) library to work well with the TMC6300 motor driver.
However, a field-oriented control (FOC) algorithm requires some feedback to close and optimize the control loop. Therefore, we integrated a TMAG5273 hall-effect sensor and INA240A1 current sensor amplifiers *(both manufactured by [Texas Instruments](https://www.ti.com/))* into the IoT motor driver board design. This allows users to incorporate a [position sensor](https://docs.simplefoc.com/position_sensors) and [current sensing](https://docs.simplefoc.com/current_sense) into the FOC algorithm or any feedback control loop they implement.
Additionally, this motor driver also features a hall-effect sensor, three in-line current sensors for each motor phase, and a low-side current sensor to gather information about the status of the motor to return to the user. It also features two user buttons, a Qwiic connector, and a user-configurable RGB LED for more customizability!
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*The [SparkFun Qwiic Connect System](https://www.sparkfun.com/qwiic) is an ecosystem of I2C sensors, actuators, shields and cables that make prototyping faster and less prone to error. All Qwiic-enabled boards use a common 1mm pitch, 4-pin JST connector. This reduces the amount of required PCB space, and polarized connections mean you can't hook it up wrong.*
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