There is a DC motor control system,i have done some works about velocity loop and position loop, but the curent loop can't work in a right way. The IDE which i using is Keil5,the control chip is stm32f103zet6. In this experiment,you need a DC motor ,a Quadrature encoder，a Dc motor driver(My driver's chip is Ir2104),a core board of STM32F103.
yisea123/DC-Motor-Control
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