The current control scheme suffers from the UART bottleneck. Sampling wheel velocities for examples slows down the control loop below acceptable frequencies. One way to mitigate this could be to use CAN instead of of UART.
This would also require additional hardware (CAN transceiver).
The current control scheme suffers from the UART bottleneck. Sampling wheel velocities for examples slows down the control loop below acceptable frequencies. One way to mitigate this could be to use CAN instead of of UART.
This would also require additional hardware (CAN transceiver).