• Complementary pwm (up to 3 phases) with dead zone
• Drive by APB2 clck (84MHz default on nucleo)
• prescaler set to 84 => timer frequency = 1 MHz
• prescaler set to 1000 (STEPS) => PWM period = 1 ms
• default pulse set to 500 (STEPS/2) => duty cycle = 50 %

uart1 (RX-PA10 + TX-PB6) + uart2 (USB) are activated

The both uart are IRQ managed in parallel, they work exactly the same way.

• ? : get duty cycles. answer =xxxx,yyyy\r\n
• #xxxx+yyyy : set left duty cycle to xxxx and right to yyyy (xxxx and yyyy truncated at 1000) answer !xxxx,yyyy\r\n

Blue Button: change duty-cyles by 10% (cycling up and down) + toggle LD2 Black Button: reset set CPU and set duty cycles to 50% + uart answer: !0500,0500\r\n

• add enable signal to stop motors
• manage rotary encoder and return speed?