This week we took another major step in firmware bringup via the janktroller. One of the hardest challenges of this project is to get rotor estimation using only the current and voltage feedback from the motor, which involves using ADCs to sample values. After we found our firmware bug, we started debugging the ADC values we were seeing using Rotate, the GUI that Bolaji made last week and continued firmware debugging. We have also started to work on integrating our control loops with sensed data from the motor.

We also have decided on electrifying either a bike or a tricycle, depending on the final motor controller form factor and amount of time we have to put into mechanical design. We will have a bike by next week, and the motor we intend on controlling, so we can start working towards an initial demo. We have also continued designing our PCBs (logic and power boards) which means some final IO part selection and those should be ready to go soon.