Page Comparison

...

Note: one programmable button for some autonomy demonstration

Progress track:
The current PWM controller code is complete

Need to test the PWM feature → with commit https://github.com/billylin609/DrivetrainController/blob/main/STM/Core/Src/motor_pwm_interface.c

The code will just generate a 1500 ms pulse every duty cycle

Need verify

https://github.com/billylin609/GroundsideBaseStation Contain three file for testing with rpi connecting to a controller

1. is to recognize the controller

2. to check is receive incident

3. read the output

When get to waterloo

1. test the PWM interface with spark flex

2. check output range of the controller should be a normalized -1 to 1

3. define interface between ground side and rover(need to know message and size to setup DMA)

   1. Speed:Value(-1 to 1) b) Yaw:value(YAW)

4. Implement arcade controller

PWM is tested working on L5

Note: for the communication

STM send request data to GS

/*Message Scheme
 *
 * +--------------------+------------------+-------------+--------+
 *  startbit + DEVICE ID   Vertical speed    rotation	    CRC
 */