This week I worked with Deepak on figuring out the UART and DMA firmware that we are putting to test on Janktroller++. We found out that the gate driver on Janktroller has some built in deadtime, which we are using in addition to the deadtime we are setting in software, which initially was confusing but now makes more sense. Getting live UART data from the board meant that we were able to get live diagnostic data to better understand what the rudimentary control loop was doing. I spent an hour or so making a quick wooden mount for the small motor we got for testing the Janktroller++ from some scrap wood in the makerspace and helped wire it all up. Moving forward, I’ve also started looking into implementations of a tabletop dyno, which would include machining a small part that connects two motors together, with one being controlled by the UPMC and the other as a generator used to measure output power.