EssyBusBLDCMotorController

EssyBusBLDCMotorController NuGet Package

Description

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.

License

This project is licensed under the MIT License - see the LICENSE file for details.