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https://git.rwth-aachen.de/CPM/Project/Lab/software/blob/master/vehicle_atmega2560_firmware/vehicle_atmega2560_firmware/spi.c

Inputs / Sensors

ADC

The ADC measures the battery voltage and the motor current. These are only used for monitoring, not control.

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The odometer has 3 digital outputs. Each signal change (rising or falling) is handled by an interrupt. The signal change indicates a motor rotation of approx. 60 degrees. The rotation count and motor speed are derived from those signals.

Outputs / Controls

Servo

The servo is controlled through a standard 50 Hz PWM signal, where the signal is encoded in the ON-time, from 1000 us to 2000 us.

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