[equipment] Fit BLDC/FOC Centrifuge to the Robot

• Firmware changes: https://gitlab.com/pipettin-bot/pipettin-bot/-/tree/master/code/firmware/arduino-simplefoc-open_loop_velocity

  • Implement FOC control.
  • Implement homing.
  • Implement WiFi connection using the ESP8266.
  • Implement RPC messaging.
  • Implement program configuration.
  • Implement program start.
  • Implement wait for program.
  • Implement program status.
  • Implement program pause.
  • Implement program stop.

• Software changes:

  • Make SVG representation.
  • Define platform properties and slot locations.
  • Define tool properties.
  • Define new high level protocol step
  • Define mid-level protocol action.
  • Define action handler.

• Hardware changes: https://gitlab.com/pipettin-bot/pipettin-bot/-/tree/master/models/labware/bldc_centrifuge

  • Adapt the rotor model to the drone BLDC.
  • Make a case that attaches to the baseplate.
  • Try using the ESP8266.

Drone BLDC motor: A2212/10T 1400 kV

Datasheet: https://5.imimg.com/data5/UD/SA/CS/SELLER-1833510/a2212-brushless-motor.pdf

Useful info:

• https://community.simplefoc.com/t/a2212-13t-bldc-motor-and-problems/74/3
• https://community.simplefoc.com/t/gimbal-vs-drone-motor-control/1384