Kar + Kar PCB integration completed and drivable with a prototype Glove Kontroller that can transmit steering and speed.
Haptic motor controller prototyped and ready to be integrated with Kar.
Design Changes
The Glove Kontroller will have 2 IMUs and the Kar PCB will have 1 IMU. The rotation/steering control on the glove will be done using the MPU6050, since it can measure pretty reliable and non-drifty roll/pitch values. The Kar’s forward/backward speed will be controlled using the ICM20948 breakout since we have a SPI connection for it. The Kar PCB will use the MPU6050 as well, and we might not need absolute yaw as long as we can figure out a good way to map relative yaw or rotational velocity to haptic feedback.
Risks and risk Management
Even though stopping the Kar via BLE is very responsive, the Kar can still accelerate quite rapdily. We will consider doing some more testing with the Kar on the ground to clamp the PWM max/min values so users have better control over acceleration.
Right now the Kar could continue moving/steering, even if it receives invalid BLE data or no data at all. We will consider adding a watchdog timer to trigger a system reset to decrease amount of undefined behavior.
