Two-Gear Motor Controller Software

Summary

Implemented two-gear motorcontroller for DNV GL Fuel Fighter with a short deadline. I did get it to work, but due to feature creep and few possibilites for testing, it didn't work in time for the competition.

Repository link

The two-gear linear actuated motor system.

Background

One month before the competition I took over the project to be able to finish it. There had been some new boards in development, men they had failed and we did not have time to fix it, so we went with the old boards. I had to implement the code for a second gear(the inner gear in the video below).

Development

I was able to wrap my head around the code pretty quickly and started off on my on branch creating changes, discussing them with the other electronics people.

Results

Below is a video from testing the system. The gears aren't quite correct, which is why you hear the spinning noise. First it accelerates up using the outer gear, then changing to the inner gear. After spinning for short while, we press the brakes and it uses the regenerative force to stop it. It stops so abruptly here because the wheel has no load. Unfortunately due to some feature creep and modifications to the code without testing caused it to fail on the competition.