PID loop control of Werdroid 2015 for the Cup of Robotics / Eurobot

Contains PCB file (Fritzing format with gerber) and code for Teensy (Arduino-like). Use two Maxon DEC 50-5 controllers for brushless motors.

This module communicate with serial over USB to get instructions and push informations about coders, pwm, etc. The protocol send and receive only one C-structure in each direction containing all information needed. A timer of 5ms synchronize coders, calculations and communications.

The Asservissement.cpp file comes from Club INTech