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mhr17_ice_controller's Introduction

MHR17 ICE Controller

Code for Clutch (DC Brushless Motors) and Throttle (Servo)

Serial

Serial output of debuging is on TXD0(Pin 14 EXT1)
And for Serial USB the Yellow pin is the TX
To run screen to read Serial messages from USB line:
screen /dev/tty.usbserial-FT94THM6 9600

Clutch Control:

Motor On/Off: PA1 (Pin 25 EXT1)
    01: On
    00: Off

Motor Direction Control: PA2 (Pin 26 EXT1)
    Direction defined facing motor
    CAN:
        Message: 0 CW (Depress)
        Message: 1 CCW (Release)

Motor Position: PD0 (Pin 26 EXT2@) (Uses interupt INT0)
    Make sure to disable pull after enabling sei(); global interupt

Throttle Motor:

Uses PWM for servo 
Ouput on: PB5 (Pin 29 EXT2)

Shifting Control:

Calibration with Hall Sensors:
Upshift: 185 Increments
Down Shift: Negative (-) 165 Increments
Half Shift: 140 Increments

CW disengages clutch

CCW engages clutch

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