Overview

A kinetic smart lamp built around a closed-loop brushless gimbal motor. Instead of dimming electrically, the motor physically raises and lowers a lit core, and dual-channel CCT LEDs ride with it. A single rotary-encoder knob drives everything locally, while Matter over WiFi exposes the lamp to Apple Home, Google Home, and SmartThings.

Key features

• Field-oriented closed-loop position control of a 4015 BLDC gimbal motor via an MT6701 magnetic encoder
• Knob interface: turn to set position or brightness, single-click to switch modes, double-click to cycle speed presets, long-hold for a factory reset (with a 5-second pulse warning)
• Position-gated lamp: as the core travels through a defined zone the LEDs fade in and out, so motion speed is also fade speed
• Dual-channel warm/cool LED mixing for adjustable color temperature
• State (position, speed preset, brightness, CCT) persists in flash and is restored on boot without a startup jump

Technical details

Motor and firmware

• SimpleFOC running on a Seeed XIAO ESP32-C6, with the FOC commutation moved onto a hardware-timer ISR so the control loop stays locked regardless of WiFi, BLE, or Matter scheduler activity
• Trapezoidal motion profiling for smooth seeks, plus driver fault and stall recovery

Matter integration

• Exposed as a Matter ColorTemperatureLight: the Matter brightness slider drives motor position, and color temperature maps to the LED warm/cool mix
• Motor and FOC initialization is deferred until after commissioning so the control loop never competes with the pairing handshake on the single-core chip

This page documents the ESP32-C6 build (kept as a stable reference); the printable base and core carrier are shown above. Drag to rotate, scroll to zoom.