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I resoldered the stuff that I removed in the debugging process. It's all a go, I repeat, everything is a go! With it all working perfectly, I believe. I am going to put it in the car later.
I have a way to tune my PI loop now. I'll use the serial port to output the current so I can look at step response. I'm getting a super cheap laptop on Craigslist if it isn't sold already. This is going to be awesome! I remember Jay's graphs if his robot PD loop, and I'm going to try something similar. I can't wait to get good solid data! Then Joe and Adrian can tune to their motors too, and we can get something of a library together, so we know the just right P and I for each motor type.
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R12 keeps pwm output low as the default
R11 keeps the current draw from the PB1 down
The 1N4148 diode pulls PWM low while !CLEAR is active
ya!
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