This week, I adapted the PWM driver to take duty cycles for each phase and then ported the simulation stuff to the janktroller and it spun the motor. It was very good because it proved that all of the power controls and stuff works and gave us a baseline to start looking at ADC readings, but also very bad because we haven’t brought up the ADCs yet so it was entirely “dumb” control. Being able to make the motor move will help us with debugging and further analysis. We also brought up some basic UART communication and overrode the relevant functions in stdlib.h, so now we can easily use printf to get live diagnostic data. After all of that, I spent a decent amount of time finalizing some component selection for MC3: Electric Boogaloo.