Yes, that’s the one. I like it. I’m using sensored mode. I forget whether that maps to FOC or BLDC?
The motor is this hobby motor: https://hobbyking.com/en_us/turnigy-trackstar-1-8th-sensored-brushless-motor-1900kv.html
They claim it’s 1800 W, but that’s just a marketing claim :-) It would obviously melt within seconds if you pushed that power into it other than just during a quick start-up transient.
I have not tried other firmware. I initially got the focbox because the sensored mode on the original ESC wasn’t very good, and the FOCBOX is better. It runs smoothly at reaosonably-slow speeds after calibration. Not as slow as a proper PID controller on a brushed motor with encoders, but slow enough for me to walk faster than it.
I’ve been meaning to update the firmware to be able to read out a cumulative tick count of the internal sensor phase count, but I haven’t had the time to do that. I control it and read back status using a serial port UART from a Teensy microcontroller that in turn I talk to from the Jetson. I generally prefer to keep a $20 interface between the wild motor currents and the $1200 computer, just to be safe :-) Also, the Teensy decodes my radio transmitter signals, and can apply an emergency cut-off more robustly and reliably than the Xavier if needed.