MotorSimulator is open source motor control firmware that enables high quality servo motor control for advanced robotics projects.

The main goals of the code are:

• fixed frequency interrupt based foc and main control loops
• parameter system upload/download/store/tune parameters on device
• hardware abstraction for both simulator and potentially multiple embedded controllers
• profiler tracking of loop timing
• realtime communication - first implementation with USB
• C API - enables easy realtime PC control through MATLAB, Simulink or C