firmware v2.0

New features and bug fixes

firmware v1.0

It's aliveeeee!

• Bug fixes
  • US sensor uninitialised variable
  • Encoder timer conflict
  • Encoder resolution lowered
  • Low speed motor oscillation
  • Color sensor recallibration
  • New improved upload method
• Test app
• Servo implemented

Firmware beta 2

fw-beta-2

increased motor pwm frequencies (#10)

Firmware beta

fw-beta

fixed irq priorities (#7)

Firmware alpha 3

Fixed motor names for real

Firmware alpha

This still needs some work, but it's good enough for the first part.

Motor tuning firmware

This ugly thing was used to measure step responses of the motors.
Related commits:

• 603d250 - added simulink stuff for motor controller tuning (#8)
• ec8fc21 - documented motor pid controller matlab stuff (#8)

Edit by @izsoandras :
Identification is done on 50Hz, which is very low, results (and script) shouldn't be used

Final PCB

Known issues:

• The labels of FTDI RX and TX LEDs are swapped
• The timer encoder interface can not be used, because the PWMs on the same timer would be based on the encoder's counter value