Multiple Motor support
bsculley opened this issue · comments
I am confronted with a project in which the vehicle has two separate motors, separately controlled (one per each rear wheel).
Everything is separate, drive mode, temperatures, cooling, power, CAN id's... The power mode, demands, etc. are intended to always be synchronized, but the motors have to turn in opposite directions. Before you say anything, I didn't design it, I'm only the software guy.
I started out thinking I could just use two instances of MotorController, but it became clear that there are a lot of places that assume there is only a single MotorController. I don't know if you have any interest in this problem, if not fine, I certainly can understand. But if you have ever thought about it, I would appreciate any ideas you may have come up with. I'd like to stay "in the spirit" of the architecture.