Field-Oriented Control FOC brushless motor driver torque bldc

 https://github.com/psrobotics/TinyFOC_pro

github Field-Oriented

https://en.wikipedia.org/wiki/Vector_control_(motor)
https://en.wikipedia.org/wiki/Vector_control_%28motor%29

https://www.solomotorcontrollers.com/blog/how-to-control-speed-or-torque-of-your-brushless-motor-with-arduino-using-solo-closed-loop/

Playing with Brushless Motor Field Oriented Control – Jordan Cormack – Engineering blog for personal projects
https://cormack.xyz/FOC/