[RESEARCH] Motor Driver PWM (STAGE 1)

[conner-replogle]

Where does this fit into the rover. Specific Team, and application on the team.
This will link the rover's motor controller to the individual motor drivers.

Describe the problem clearly
The motor drivers are controlled by the Motor Controller Board via PWM. The Motor Controller is a Teensy 4.1, and we will need to implement software to properly communicate to each motor driver. This involves sending commands over serial to set each motors speed.

Pulse Width Modulation (PWM) in laymans terms is a common method for sending a "speed" value to a sometype of motor driver.
Helpful Explanation

A suggest you get the basic Idea of PWM, however you do not need to be a pro because libraries exist.

Describe initial ideas on how to approach
I would suggest writing this in Arduino code and approaching the problem in this order.

• Get one motor wired up and show proof of the PWM signal being received by turning the motor on and getting it moving.
• Implement a basic protocol for setting that motor's speed and actually turning
• Expand to all 4 motors.

[conner-replogle]

Teensy Specific PWM

[conner-replogle]

We have the SPN version but the PWM specific section of this is the same.
PWM Specs Freq, Duty Cycle

Frequency:
Max: 10hz
Min: ~350hz

Duty Cycle:

• 1ms for full reverse
• 1.5 for 0%
• 2.0 for full forward

Using this information and assuming you use the frequency 50hz

• full throttle would be 10%
• 0% throttle would be 7.5%
• full reverse would be 5.0%