Requirements

Remote:

• Wireless
• Easy to use
• xbox controller?

Base Station:

• Show log of joint torques (current logging and speed logging)
• Show log of joint speeds
• Just a regular laptop

Controller:

• Able to read off of 6 encoders (live speed readings)
• Potentially need to read 6 current sensors (2 pins each)
• Open loop
• Arduino Mega?
• Raspberry Pi?
• FRC Controller?
• STM32?
  • Conclusion: Arduino Mega → simple to code, simpler to debug

Motor Driver:

• Cytrons? → need to buy enough to supply both arm and drivetrain systems

Motors:

• TBD

Encoders:

• TBD

Misc.

• Emergency stop (maybe physical?)

To do

• Develop wiring plan for drivetrain and arm control systems
• Create microcontroller code
• Create x-box controller code
• Create base station GUI 
  • Verify open-loop communication between encoders and base station
• Develop Bluetooth communication
• Set-up communication between microcontroller → computer → x-box