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| Question | Outcome |
|---|---|
| What packet format do we use to drive the motors? | The Driver Controls board will peridocally broadcast a message containing the directon selector (Forward/Reverse) and the amount of torque requested (as a raw value with a known maximum). The Motor Controller interface will take the torque requested and divide by a known denominator and set that as the current limit. The voltage limit will be set when cruise control is set. |
| How do we handle turning? (differential) | This will be handled by the Motor Controller's control loop (needs to be configured by the WaveSculptor configuration tool) |
| How fast should the motor CAN network run? | |
| How do we get two CAN controllers? | Two Controller boards with a UART bridge |
Not Doing
- Torque vectoring algorithm (improvement for WSC maybe?) This will be handled by disabling Cruise Control when steering angle exceeds a threshold