This week we were able to get the motor spinning slowly. This involved a number of different things. The first one was bringup of the microcontroller’s timer to output PWM. Another accomplishment this week was writing a rudimentary control loop to spin the motor. We were also able to send information about the voltages and currents over UART. Overall, the motor spinning validates our basic hardware architecture, and we are confident in moving forward both with further firmware development, and finalizing design for the final motor controller.