In this video you can see the sensorless commutation detection running in Open-BLDC. We are using a novel way sampling the voltage on the floating coil with an ADC in PWM on times. It is the first basic implementation. In the beginning of the video the motor is being spun up using forced commutations. Then we switch to commutation detection based mode. (it is just a second before I disturb the system using my finger ^^) We end up changing the speed of the motor just by changing the PWM duty cycle. Finally I disturb the motor too much and it stops. Well still a lot of work to do. ^^