Update README.md

Author: askuric

README.md

@@ -25,4 +25,57 @@ Proper low cost FOC supporting board is very hard to find these days even may no
 ## All you need for this project is (an exaple in brackets):
  - Brushless motor - 3 pahse    (IPower GBM4198H-120T [Ebay](https://www.ebay.com/itm/iPower-Gimbal-Brushless-Motor-GBM4108H-120T-for-5N-7N-GH2-ILDC-Aerial-photo-FPV/252025852824?hash=item3aade95398:g:q94AAOSwPcVVo571:rk:2:pf:1&frcectupt=true))
  - Encoder - ( Incremental 2400cpr [Ebay](https://www.ebay.com/itm/600P-R-Photoelectric-Incremental-Rotary-Encoder-5V-24V-AB-2-Phases-Shaft-6mm-New/173145939999?epid=19011022356&hash=item28504d601f:g:PZsAAOSwdx1aKQU-:rk:1:pf:1))
- - HMBGC V2.2 [Ebay](https://www.ebay.com/itm/HMBGC-V2-0-3-Axle-Gimbal-Controller-Control-Plate-Board-Module-with-Sensor/351497840990?hash=item51d6e7695e:g:BAsAAOSw0QFXBxrZ:rk:1:pf:1)
+ - HMBGC V2.2 [Ebay](https://www.ebay.com/itm/HMBGC-V2-0-3-Axle-Gimbal-Controller-Control-Plate-Board-Module-with-Sensor/351497840990?hash=item51d6e7695e:g:BAsAAOSw0QFXBxrZ:rk:1:pf:1)
+ 
+# Using the library
+## Conneciton of encoder and motor
+<p>
+	<img src="./Images/connection.png" height="400px">
+	<img src="./Images/setup1.jpg" height="400px">
+	<img src="./Images/pinout.jpg" height="400px">
+</p>
+To use HMBGC controller for vector control (FOC) you need to connect motor to one of the motor terminals and connect the Encoder. The shema of connection is shown on the figures above, I also took a (very bad) picture of my setup. 
+
+## The code
+The code is organised in two libraries, BLDCmotor.h and endcoder.h. BLDCmotor.h contains all the necessary FOC funciton implemented and encoder.h  deals with the encoder. I will make this better in future. :D
+
+### Initialization
+The heart of the init is the constructor call:
+```cpp
+BLDCMotor motor = BLDCMotor(9,10,11,&counter[ENCODER_1],A0,A1,11,2400);
+//BLDCMotorint(phA, phB, phC, long* counter, int encA, int encB , int pp, int cpr)
+```
+The first three arguments are pin numbers of them motor phases, either 9,10,11 or 6,5,3
+Fourth argument is a pointer to the encoder counter
+Fith and sixt argument are encoder pins channel A and channel B
+Seventh argument is number of Pole pairs of the motor
+And Eight argument is the cpr of the encoder
+
+### Usage in loop
+
+I have not made an implementation using timer intrupts just yet, but it is one of the future steps. 
+At the motment the function control loop function has to be iteratively called in the `loop()`.
+
+## Control loops
+There are three cascade control loops implemented in the library:
+### Open loop voltage Uq
+Using the fucntion 
+```cpp
+motor.setPhaseVoltage(float Uq)
+```
+you can run BLDC motor as it is DC motor using Park transformation.
+<img src="./Images/voltage.png">
+### Closed loop velocity control
+Using the fucntion 
+```cpp 
+motor.setVelocity(float v)
+```
+you can run BLDC motor in closed loop with desired velocity.
+<img src="./Images/velocity.png" >
+### Closed loop velocity control
+Using the fucntion 
+```cpp
+motor.setPosition(float pos)
+```
+you can run BLDC motor in closed loop with desired position.
+<img src="./Images/position.png">