EssyBusBLDCMotorController is a .NET library for controlling brushless DC (BLDC) motors via the EssyBus protocol. It exposes a high‑level C# API for movement, stops, interrupts, and configuration of motor parameters such as PID gains, acceleration, speed, and safety features like over‑temperature and over‑current shutdown.

Features

Initialize and power motors on/off
Move clockwise/counter‑clockwise with configurable acceleration, speed, and deceleration
Move to absolute positions (blocking and non‑blocking)
Temporary overrides: early arrival delta, stop channels
Built‑in interrupt handling and stall protection
PID tuning (P, I, D, Jerk) with smart caching to minimize bus traffic
Read motor temperature and configure safety shutdown thresholds
Events for motor stalled and movement completion

Installation

Install via the .NET CLI:

dotnet add package EssyBusBLDCMotorController

Or via the Package Manager Console:

Install-Package EssyBusBLDCMotorController

Quick Start

using System;
using Essy.EssyBusBLDCMotorController;

class Program
{
    static void Main()
    {
        // Create and power on controller
        var controller = new EssyBusBLDCMotorController();
        controller.Powered = true;

        // Configure PID gains
        controller.P = 500;
        controller.I = 10;
        controller.D = 50;
        controller.Jerk = 1.5f;

        // Move to position 1000 steps at speed 800 steps/sec
        controller.MoveToPosition(1000, acceleration: 200, speed: 800, deceleration: 200);

        // Read final position and power off
        Console.WriteLine($"Stopped at: {controller.Position}");
        controller.Powered = false;
    }
}

API Reference

`EssyBusBLDCMotorController`

Properties
- bool Powered { set; } – Enable/disable H‑bridge.
- int Position { get; set; } – Read or set current motor position.
- float Jerk { get; set; } – Jerk parameter (with smart caching).
- int P, PIdle, I, D { set; } – PID gains (cached updates).
- float MotorTemperature { get; } – Read current motor temperature (°C).
- bool EnableOverTemperatureShutdown { set; }
- bool EnableOverCurrentShutdown { set; }
- byte OverTemperatureTripPoint { set; }
Methods
- MoveClockWise(int acceleration, ushort speed)
- MoveCounterClockWise(int acceleration, ushort speed)
- MoveToPosition(int position, int acceleration, ushort speed, int deceleration)
- MoveToPositionWithCapture(...) – capture actual stop position
- MoveClockWiseUntilStopChannel(...), MoveCounterClockWiseUntilStopChannel(...)
- Stop(int deceleration)
- ResetDevice(), ApplySettings()
Events
- event EventHandler MotorStalledAndStopped – Raised when stall protection stops the motor.

Enums

InterruptReason – none, DestinationReached, StopChannel1Happened, … Stall.
StopChannelPullupState – NoPullUps, ChannelOnePullUp, ChannelTwoPullUp, BothChannelsPullUp.