Ground Station + Drivetrain Controller proof of concept
Requirement guide:
1 * RPI/ Computer(the reason to use rpi is because it will be in the bay)
1 pair * sik Radio
1 * xbox 360
1 * stm l5
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
is to recognize the controller
to check is receive incident
read the output
When get to waterloo
test the PWM interface with spark flex
check output range of the controller should be a normalized -1 to 1
define interface between ground side and rover(need to know message and size to setup DMA)
Speed:Value(-1 to 1) b) Yaw:value(YAW)
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
*/