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Robotics pwms reorg

Vauban requested to merge robotics-pwms-reorg into develop
  • Split the PWMs across two controllers to make it easier to match the PWM naming convention.
  • Add cape GPIOs for P9 and upper P8 using cape pin naming convention Px_y.
  • Adjust rotary encoder de-bouncing
  • Rotaty encoder value are accessible from address 0x4130000 for the first encode and 0x41300010 for the second encoder.

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