Successfully enabled and set the speed of the motors on the Kar through the STM32, both by hardcoding the speed in the program and through keyboard input over bluetooth from the ESP32.
Read ICM20948 IMU gyroscope and accelerometer measurements and converted to yaw, pitch, and roll, which was integrated with bluetooth to send servo PWM signal to the Kar.
Successfully controlled the servo on the Kar through the STM32 and by bluetooth, transmitting the IMU roll linearly mapped to PWM.
Risks and Risk Management
We can get pretty reliable and consistent roll and pitch values that are not too susceptible to drift on the ICM20948 IMU. However, we noticed that yaw has about a degree of drift every 5 seconds or so. While this does not pose a risk for the Kontroller, it could pose a risk for the IMU on the Kar which may require yaw when determining haptic feedback.
