• RPi Pico
• AS5600 as a joystick sensor
• IBT_2 (BTS7960) motor driver

Schematics

The device exposes two virtual UART ports. One for logging and one for shell. Shell commands allow you to adjust parameters and save them permanently.

• bootloader Reboot MCU to bootloader
• help Prints the help message.
• joystick Prints joystick position. Optionally, you can specify the number of samples to take.
• params Print current params
• pause Suspends normal motor operations to set up parameters
• reboot Reboots the device
• resume Resumes normal motor operation
• set center Sets joystick central(neutral) position [0..359]
• set pwm_min Sets minimal pwm [0..99]
• set dead_angle Sets joystick dead angle [0..180]
• set max_angle Sets joystick max angle [0..180]