Syren 10A motorcontroller

This section covers the ins and outs of using the Syren 10A motor controller together with the teensy. The full documentation can be downloaded here Syren10A documentation.

The motor-controller allows for different operation modes, on the flexbot the "Analog One-direction with forward/reverse select on S2" mode is used. To select this mode check and adjust the switches accordingly

The motor-controller needs an analog reference voltage to determine motor speed, and not a PWM signal like e.g. the linear actuators. To control the motor with a reference PWM signal from the teensy the PWM signal needs to be filtered to an analog voltage. The documentation shows a diagram to achieve this functionality, both for fast filtering and smooth filtering