Arduino BLDC motor Reaction Wheel Inverted Pendulum - Simple FOC project

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This is a project for designing and controlling the reaction wheel inverted pendulum based entirely on Arduino, utilizing the SimpleFOC library and SimpleFOC shield. The Field Oriented Controlled BLDC motor in combination with the shield and the library makes this reaction wheel inverted pendulum setup one of the simplest possible ones, yet also very robust and well performing. You can find a YouTube video demonstrating the pendulum's performance, assembly, and coding at https://youtu.be/Ih-izQyXJCI. For more information about the software and hardware, visit the project's GitHub repository at https://github.com/askuric/Arduino-FOC-reaction-wheel-inverted-pendulum. This is a very fun project in many ways, intended for students seeking a good testing platform for their advanced algorithms and anyone with free time and motivation to create something cool. The most exciting part of this project was the ability to use the Field Oriented Control algorithm. The main benefits of using the BLDC motor in this project include: High torque to weight ratio, making it lighter and more efficient; lots of torque for low angular velocities, eliminating the need for high RPMs; no gearboxes or backlash, resulting in very smooth operation and a stable pendulum. FOC has been restricted to high-end applications due to complexity and cost, but also lack of user-friendly software. I'm happy to share projects like this one that directly benefit FOC and BLDC motors, encouraging you to use these techniques in your own projects. One simple way to start is by using the SimpleFOC library and SimpleFOC shield, as demonstrated in the video at https://github.com/askuric/Arduino-FOC.