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Update README.md

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EmanuelFeru 2019-10-06 15:58:22 +02:00
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README.md
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@ -17,23 +17,23 @@ The main firmware architecture including:
- FOC Algorithm: *implements the FOC strategy*
- Control Type Manager: *Manages the transition between Commutation and FOC Algorithm*
![Firmware architecture](https://raw.githubusercontent.com/EmanuelFeru/hoverboard-firmware-hack-FOC/master/docs/pictures/FW_architecture.png?token=AF5B7SJJQKTGBC5O3JSJA3S5THYAC)
![Firmware architecture](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/FOC_algorithm.png)
The FOC algorithm architecure is illustrated in the figure below:
![FOC algorithm](https://raw.githubusercontent.com/EmanuelFeru/hoverboard-firmware-hack-FOC/master/docs/pictures/FOC_algorithm.png?token=AF5B7SMHSBHOIMKNDO6MI6K5THYDQ)
![FOC algorithm](https://raw.githubusercontent.com/EmanuelFeru/hoverboard-firmware-hack-FOC/master/docs/pictures/FOC_algorithm.png?token=AF5B7SOOBHQ3SIOLSTATHAS5THZLO)
In this firmware two control methods are available:
- Commutation method
- FOC method
![Schematic representation of the available control methods](https://raw.githubusercontent.com/EmanuelFeru/hoverboard-firmware-hack-FOC/master/01_Matlab/02_Figures/control_methods.png?token=AF5B7SKKAOYGW53BEGBSWBK5THYFU)
![Schematic representation of the available control methods](https://raw.githubusercontent.com/EmanuelFeru/hoverboard-firmware-hack-FOC/master/01_Matlab/02_Figures/control_methods.png?token=AF5B7SOOBHQ3SIOLSTATHAS5THZLO)
A short video showing the noise performance of the Commutation method vs advanced control method:
[►Video: Commutation method vs FOC](https://drive.google.com/file/d/1vC_kEkp2LE2lAaMCJcmK4z2m3jrPUoBD/view)
![Hoverboard wheel](https://raw.githubusercontent.com/EmanuelFeru/hoverboard-firmware-hack-FOC/master/docs/pictures/hoverboard_wheel.JPG?token=AF5B7SLDXZCN4P2IJ6WWBYC5THYIO)
![Hoverboard wheel](https://raw.githubusercontent.com/EmanuelFeru/hoverboard-firmware-hack-FOC/master/docs/pictures/hoverboard_wheel.JPG?token=AF5B7SOOBHQ3SIOLSTATHAS5THZLO)
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