I am in for merging this. for the v2.3.4!
I'll integrate it to the docs as well.

Hey @Candas1,

Would you have time to add an exmaple code in the library examples folder of how to use this new HallSensor. :D
I think the ideal would be to add it in the examples/utils/sensor_test folder:
https://github.com/simplefoc/Arduino-FOC/tree/master/examples/utils/sensor_test

Hi @askuric,

It will just work by commenting enableinterrupt().

So it might not require an additional example, but I can add a comment there. Most important might be to explain in the docs when to use it.

Looking at the folder you shared, I have one doubt. Is this still required ?

• it works only on arduino's (can number of interrupt be a bottleneck on stm32 or esp32 ? )
• it requires an additional library
• as it runs each listener one by one, it can potentially run updateState() several times and with partial information if more than one hall state changed
• my code needs sensor.update() to run often enough so it can be impacted by a delay in the loop (happened to a user yesterday), pcimanager seems to rely on global interrupts

Ok cool!
I'd still add an example to make sure that peole don't get ocnfused, but I can do it quickly as its so simple, don't worry about it.

Yeah, I'd still keep the software interrupts for now, we can remove them in the future releases.

I'm updating the docs at the moment. Would you agree with this statement?

RULE OF THUMB: Hardware/Software or No interrupts?

• Start with the no interrupts and see if the performance is good enough for your application.
• If the performance is not good enough and if you have enough hardware interrupt pins, try using hardware interrupts.
• Otherwise, if you are using Arduino boards, try using software interrupts. (worst performance solution to be expected)

Yes that's ok.

We will get more feedback in the future as users experiment, so we can add more details later if needed. (fast vs slow hardware, fast vs slow motor, accuracy for velocity control, ....)