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[Pod] Integrate propulsion system with FSM #100

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Tracked by #76
taesungh opened this issue May 31, 2024 · 0 comments
Open
Tracked by #76

[Pod] Integrate propulsion system with FSM #100

taesungh opened this issue May 31, 2024 · 0 comments
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@samderanova @taesungh

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taesungh commented May 31, 2024 •
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Following from #35, to move the pod, we'll need to send the current velocity of the pod and throttle to the inverter board.

  • Add an instance of InverterBoard to StateMachine
  • During running_periodic, send the velocity of the pod from the wheel encoder to InverterBoard::send_control
  • When entering any of Stopped, Halted, or Faulted, send a control of (0, 0)
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