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DRV8353R: BLDC Servo

Part Number: DRV8353R
Other Parts Discussed in Thread: TMDXIDDK379D, C2000WARE, C2000WARE-MOTORCONTROL-SDK

I would like to start with the fact that I am not good at this topic.

I have a 32 bit absolute encoder.

Encoder connected to BLDC motor.

I need to make a servo.

Are there any code examples that I can use? What should I change in the code except the port to my microcontroller so that this code works for me?

Because, as I said, I am not good at this topic