\section{Hardware-Based Six-Step Commutation Controller}
\label{sec:sixstep}

The basis of this section is the replacement of components who are highly complex, technical and/or are dependant on global supply chains to manufacture. An additional goal is, as for the preceding section, to make a repairable, reliable and manufacturable circuit, this time using these more basic components, based on open-source principles. The controller needs to be performant enough to drive one of the two electric motors used on the LaMAD (La Manufacture Autonome Décentralisée) bicycle cargo trailer. %ref moteur qu'utilise lamad


\subsection{AIME and other SC-facilities capabilities}
The most challenging part of this section is the replacement of semiconductor parts.


\subsection{Replacing an IC}

Replacing the IC of a motor controller requires using traditional logic gates. This approach is 

\subsection{Power components}


\subsection{Clock}

To calculate the maximum rotation speed, we take the worst conditions of the motor used in the MAD cargo bike; 50 km/h\footnote{http://www.mxusebikekit.com/pro\_info.asp?Pid=25} with a 50 cm wheel\footnote{http://www.mxusebikekit.com/pro\_info.asp?Pid=25}\footnote{https://veloma.org/2022/10/05/la-charrette-version-montagne-ou-comment-transporter-250kg-a-velo-par-monts-et-par-vaux/} (not measured, assumed from the images and the motor specifications). 

\begin{equation*}
  \omega=\frac{v}{\pi d}=\frac{50\cdot 10^3m/h\cdot\frac{1}{60}h/min}{3,14\cdot 50\cdot 10^{-2}m}=530\ rpm
\end{equation*}

The motor being a three-phase brushless motor, the switching speed needs to be