The base controller is strongly inherited from the linorobot Base Controller for the 2WD design. The DC motors in the original projects are substituted with Brush-less and ESC system (See system overview for more details)
The above schematics is amended as follow:
Motor Controls
Controller Motor Left define PWM PIN 21
Controller Motor Right define PWM PIN 5
RPM Acquisition
NOTE: acquisition signals are split between ESC and Teensy
Motor Left Phase_A 15
Motor Left Phase_B 14
Motor Left Phase_C 20
Motor Right Phase_A 10
Motor Right Phase_B 11
Motor Right Phase_C 6
Electronic system interaction
The system interactions, between different components are defined as follow. (Powers flow and control flow)
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