RC08Firmware

The firmware resides on the microcontroller and includes software to implement the protocol, control the motors, and perform closed loop control on the motors and the robot itself.

Tasks

• [ ] Generate an I/O spec
• [ ] Evaluate the the current protocol
• [ ] Update if necessary
• [ ] Add code to interface with FPGA using SPI or serial
• [ ] Implement closed loop motor control
  • [ ] PID for first prototype
  • [ ] Possibly switch to state-feedback
• [ ] Implement Kalman filter for accelerometer

Specifications

• We may want to add an interlever to our wireless system (this may have to go on FPGA and is a function of wireless conroller)
• We may also want to go for a more advanced encoder scheme
• Closed-loop control will start out as PID but could go to state-feedback

Links

• Electrical System