Each REV brushless motor is controlled by a REV Robotics Spark MAX motor controller, with control inputs from a custom board. This board runs firmware to listen for commands, control the position of the TVC assembly, and relay telemetry to our ground station. The custom board consists of an ESP32 microcontroller, an Ethernet module breakout board (W5500), and logic level shifters.<picture of board>
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This board is fully integrated into our existing avionics and ground station through our Ethernet network. The TVC sequence is automatically initiated 1.5 seconds in to the burn, and TVC tracking telemetry is continuously logged to our database. TVC positioning / control telemetry is sent at 200Hz.
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