esp32做主控，控制simplefoc电机，采集mpu6050，as5600编码器，和ros2-foxy通信
License: MIT License
esp32做主控，控制simplefoc电机，采集mpu6050，as5600编码器，和ros2-foxy通信
bilibilib视频地址：https://www.bilibili.com/video/BV1CM4y1c7eE?spm_id_from=333.999.0.0
谢谢，欢迎交流。
基于灯哥开源的simplefoc的电机闭环程序
所以需要先安装灯哥simplefoc的开发环境
arduino+simplefoc+esp32
参考链接如下：
https://github.com/cuizhongren45/Deng-s-foc-controller
将MPU6050_tockn文件夹放在aduino目录下/libraries中，算是引入库文件
将main.c的代码复制到自己的arduino中，编译烧录即可。
代码里都有备注，两个as5600就按照灯哥v3的版本里接线方式接线
MPU6050接线SDA---I_0 SCL---I_1
Would you please tell me the ros2 esp32 you are using the cable or wifi communications
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