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 (optional)

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);