EssyBusBLDCMotorController 1.1.0

.NET 8.0 This package targets .NET 8.0. The package is compatible with this framework or higher. .NET Standard 2.0 This package targets .NET Standard 2.0. The package is compatible with this framework or higher. .NET Framework 4.8 This package targets .NET Framework 4.8. The package is compatible with this framework or higher. 
dotnet add package EssyBusBLDCMotorController --version 1.1.0
                    


                    

                
NuGet\Install-Package EssyBusBLDCMotorController -Version 1.1.0
This command is intended to be used within the Package Manager Console in Visual Studio, as it uses the NuGet module's version of Install-Package. 
<PackageReference Include="EssyBusBLDCMotorController" Version="1.1.0" />
For projects that support PackageReference, copy this XML node into the project file to reference the package. 
<PackageVersion Include="EssyBusBLDCMotorController" Version="1.1.0" />
                    


                            Directory.Packages.props
                        

                    

                
<PackageReference Include="EssyBusBLDCMotorController" />
                    


                            Project file
For projects that support Central Package Management (CPM), copy this XML node into the solution Directory.Packages.props file to version the package. 
paket add EssyBusBLDCMotorController --version 1.1.0
                    


                    

                
#r "nuget: EssyBusBLDCMotorController, 1.1.0"
#r directive can be used in F# Interactive and Polyglot Notebooks. Copy this into the interactive tool or source code of the script to reference the package. 
#:package EssyBusBLDCMotorController@1.1.0
#:package directive can be used in C# file-based apps starting in .NET 10 preview 4. Copy this into a .cs file before any lines of code to reference the package. 
#addin nuget:?package=EssyBusBLDCMotorController&version=1.1.0
                    


                            Install as a Cake Addin
                        

                    

                
#tool nuget:?package=EssyBusBLDCMotorController&version=1.1.0
                    


                            Install as a Cake Tool

EssyBusBLDCMotorController NuGet Package

NuGet Version

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.

Product Compatible and additional computed target framework versions.
.NET net5.0 was computed.  net5.0-windows was computed.  net6.0 was computed.  net6.0-android was computed.  net6.0-ios was computed.  net6.0-maccatalyst was computed.  net6.0-macos was computed.  net6.0-tvos was computed.  net6.0-windows was computed.  net7.0 was computed.  net7.0-android was computed.  net7.0-ios was computed.  net7.0-maccatalyst was computed.  net7.0-macos was computed.  net7.0-tvos was computed.  net7.0-windows was computed.  net8.0 is compatible.  net8.0-android was computed.  net8.0-browser was computed.  net8.0-ios was computed.  net8.0-maccatalyst was computed.  net8.0-macos was computed.  net8.0-tvos was computed.  net8.0-windows was computed.  net9.0 is compatible.  net9.0-android was computed.  net9.0-browser was computed.  net9.0-ios was computed.  net9.0-maccatalyst was computed.  net9.0-macos was computed.  net9.0-tvos was computed.  net9.0-windows was computed.  net10.0 was computed.  net10.0-android was computed.  net10.0-browser was computed.  net10.0-ios was computed.  net10.0-maccatalyst was computed.  net10.0-macos was computed.  net10.0-tvos was computed.  net10.0-windows was computed. 
.NET Core netcoreapp2.0 was computed.  netcoreapp2.1 was computed.  netcoreapp2.2 was computed.  netcoreapp3.0 was computed.  netcoreapp3.1 was computed. 
.NET Standard netstandard2.0 is compatible.  netstandard2.1 was computed. 
.NET Framework net461 was computed.  net462 was computed.  net463 was computed.  net47 was computed.  net471 was computed.  net472 was computed.  net48 is compatible.  net481 was computed. 
MonoAndroid monoandroid was computed. 
MonoMac monomac was computed. 
MonoTouch monotouch was computed. 
Tizen tizen40 was computed.  tizen60 was computed. 
Xamarin.iOS xamarinios was computed. 
Xamarin.Mac xamarinmac was computed. 
Xamarin.TVOS xamarintvos was computed. 
Xamarin.WatchOS xamarinwatchos was computed. 
Compatible target framework(s)
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NuGet packages

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Version Downloads Last Updated
1.1.0 216 8/7/2025
1.0.1 211 8/7/2025
1.0.0 209 8/7/2025

added missing methods