RC14Firmware

Overview

The 2011 firmware will be upgraded to allow the use of new features and modifications made for the 2014 fleet.
For the 2014 control boards a 9-axis IMU will be used:

• "MPU-9150 9-Axis IMU (Gyro, Accel, & Compass)"

A few "vision" sensors to aid with local ball tracking is also considered for the 2014 model:

• Very-close-range proximity sensor
• High precision motion detector
• Color sensor

Improving Motor Control

Low level motor control and error detection, although already present, can be improved

• Current monitoring can be used to prevent motor or motor driver damage
• Adding a pair of optical flow sensors can be used as an additional input for error checking and cross-referencing to designate which sensor is returning faults
  • Currently, the encoder faults and hall faults are not 100% accurate as to which is having a fault unless a very expected error case occurs

Resources

• "MPU-9150 9-Axis IMU (Gyro, Accel, & Compass)"