> dedicated MCU for BLDC motor control During the chip shortage, specialized chips like this were very hard to find. Meanwhile the RP2040 was the highest stock

> dedicated MCU for BLDC motor control During the chip shortage, specialized chips like this were very hard to find. Meanwhile the RP2040 was the highest stocked MCU at digikey and most other places that carried it. The farm robot drive motors don't need high speed control loops or anything. We just needed a low cost flexible system we could have fabbed at JLCPCB. The RP2040 also has very nice documentation and in general is just very lovely to work with. Also SimpleFOC was already ported to the RP2040, so we had example code etc too. Honestly the CPU was the easy part. As we expected, getting a solid mosfet bridge design was the challenging part.