The setup is like so: 1 Arduino drives 2 of the following motor+motor controller setups. Motor with dual phase encoders is attached to a "simple h-bridge". This gives us 2 encoder signals and current information for each motor.
Motor speed is set via the usart interface, packets are framed in a hdlc like manner, and CRC-CCITT protected.
Due to the physical layout of the robot 1 motor controler (half_jackal/hj) will controll a pair of left/right wheels such that a hj controls the 2 front wheels and a second controls the 2 rear wheels.
My dear sir, upon examining your repository of code I noticed that the depth of submodules is like so:
hj_node -> half_jackal -> muc -> penny.
Surely, you realize the significant cruelty you impose upon your users?
If cloning initially, do: git clone git submodule update --init --recursive
When pulling at a top level, do: git pull git submodule update --init --recursive
If one of you poor blokes happens to be in as bad a state as myself and wishes to quickly update their chain of submodules, do: git pull --recurse-submodules git submodule update --init --recursive git submodule foreach --recursive git checkout master '&&' git pull