This article reviews the process used to identify the motor used in the GARP Alpha development stage. Primarily intended to support GARP integration and requirements refinement, design assumptions and speed and torque performance parameters are estimated based on two threshold and objective use cases. Adjacent factors such as encoder resolution, driver/ESC availability, and mounting are […]
GARP Motor Controller: Alpha
This article discusses the GARP’s Motor Controller Alpha implementation to include the integration of a COTS Raspberry Pi Pico 2 microcontroller board, CAN PiCowbell from Adafruit, and a custom SMD PCB. The software architecture is described and its primary components’ key functionalities are outlined. The PID controller software and hardware are discussed, including the motor […]