Matt Thompson
@fuzziphy
“The measure of intelligence is the ability to change” -Albert Einstein
559 Following 1.6K Followers
5Mbit CAN link to the custom motor controller is working from the Jetson using an MCP2518FD SPI interface.
Working end to end with a Bluetooth gamepad sending velocity targets over CAN, and the motor controller firmware does cascaded cycle by cycle current PI loop, and a velocity loop from the optical encoder.
Need to CNC a second motor driver, and a power distribution/voltage monitor board…
Show more
Reflowed and connected up to a Jetson, and visible in i2cdetect.
These things need firmware blobs and the ST drivers are terrible.
Astra extracted the blob out of their driver, and no-std rust embedded-hal driver is already working
Show more
