A controler to manuver both the jib and the boom independently. Utilizes:
- MSP430FR5739 microcontroller to engage/disengage the pawls and rotate the drum
- STM32F407 microcontroller which receives CAN communication and sends 2 byte commands to the MSP430
- NanoJ is used to interface with the motor controller which allows the ability to power on and off the main motor
- CCStudio (https://www.ti.com/tool/CCSTUDIO#downloads)
- Plug & Drive Studio 2 (https://en.nanotec.com/products/2533-plug-drive-studio-2)
- Putty (https://www.putty.org/)
- Open CCStudios
- Right click on the Project Explorer tab and select import->CSS project
- Browse the directory with the project you want to program. You shoud be able to see the project under "Discover projects"
- Click Finished
- Do Ctrl-B with the project open. This would build the project
- Connect the black USB connection from the MSP430 to your computer
- Click the "green bug" icon on the toolbar on top to program the microcontroller
- Then press the green play button to run the program
Contains the electronics needed for the winch:
- Control board PCB has the MSP430 that is programmed with the winch-system firmware
- UCCM interprets CAN messages from the BBB and sends relavent commands through UART to the MSP430
- Nanotec motor controller is programmed with the NanoJ code and is used to rotate the drum
