Sensorless back_emf speed controller

[Vikesrock]

Originally Posted by vamfun

Project ground rules :
1) use the existing 2009 JAG constraints.
2)Use the jag limit switches for momentary motor shut off to make back_emf voltage measurements

These are conflicting requirements per <R62>. this was brought up in the Q&A this year and it was confirmed that <R62> prohibits the use of the Jaguar limit switch inputs.

<R62> Every speed controller, relay module, and servo shall be connected via PWM cable to the
Digital Sidecar, and be controlled by signals provided from the Mobile Device Controller via
the Digital Sidecar. They shall not be controlled by signals from any other source.
A. Support for the CAN bus port on the Jaguar speed controllers is prohibited for this
competition, and the port is not to be used. Nothing shall be connected to the CAN bus
port. It is recommended that the port be protected with a piece of tape to prevent debris
from entering the port.