In this repository is the periphial code I wrote while implemeting Fenrir's speed servos
There's an exploratory i2c test sketch in i2c
There's a sketch to easily set victor calibrations in victor_calibrate.
Victors are controlled by a PWM input. The limits of the PWM can be set by sweeping to both extremes, then returning to center while holding the calibrate button on the victor.
The last directory pid_tuner is essentially a serial->i2c bridge to enable the tuning of the controller from a laptop.