[SP] Emergency deceleration using motors
datahaki opened this issue · comments
Background
In the current implementation, the emergency stop manoeuvre uses the brake only. During the emergency phase, the torque to the motors is set to zero.
Task description
- create a logic that applies suitable torque to the motors in order to decelerate the gokart in an emergency situation
- prove stability of the controller in theory and experimentation
Purpose
The linmot device that pushes brake has frequently failed to operate long-term. Therefore, a redundant emergency stop is desirable.