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Connect Microcontroller

Steps for connecting a 32-bit microcontroller (such as Teensy, Raspberry PICO, Arduino Due, or ESP32) to the BLDC driver board

Connecting Pins

BLDC driver board with 3-Phase motor driver (L6234D) and magnetic encoder (AS5048A or AS5047)
Not all driver boards have current sensors
Motor driver
MCU
GND
external power source (-)
VDD
external power source (+)
EN
digital pin
IN1, IN2, IN3
PWM enabled digital pins
C1, C2
analog (ADC) pins
Encoder
MCU
V3.3
3.3 volt output
GND
ground pin
CS (select)
CS/SS pin (Teensy 3.2: PIN10)
SCK (clock)
SCK/SCLK/CLK pin (Teensy 3.2: PIN13)
MISO (master input, slave output)
MISO/SDI/DI/DIN pin (Teensy 3.2: PIN12)
MOSI (master output, slave input)
MOSI/SDO/DO/DOUT (Teensy 3.2: PIN11)

Initialize Driver Board Pins

Update the initialization at the start of the library to match the pin numbers of the MCU.
/* CS pin of the encoder */
#define CS_MAGNETIC_SENSOR_PIN 10
/* BLDCMotor (int pole-pairs): GB36-2 has 7 pole-pairs */
BLDCMotor _bldc = BLDCMotor(7);
/* BLDCDriver3PWM(IN1, IN2, IN3, EN) */
BLDCDriver3PWM _driver = BLDCDriver3PWM(21, 22, 23, 20);