Example Configurations#

Simple Sensor Fusion#

A typical use of Atomic Bond is to remove backlash from a mechanism with high drive ratio, such as an arm or elevator. By driving the motor with a Nitrate and receiving feedback over the Bond port (via CAN or PWM), the controller can synchronize its position to the end effector at a rate of up to 10 kHz.

../../_images/BondUserDiagram-singlesensor-can.png

../../_images/BondUserDiagram-singlesensor-pwm.png

Simple Motor Following#

A Nitrate can be connected to an Atomic Bond port to increase follower rates to 10 kHz. This enables ultra-tight control and avoids unstable performance caused by follower lag.

../../_images/BondUserDiagram-singlefollower.png

Atomic Swerve#

Atomic Swerve is a special case of Atomic Bond where a Nitrate can be used to control a swerve module. This enables high-rate swerve odometry with minimal impact on the RIO CANbus and no need for extra hardware.

../../_images/BondUserDiagram-swerve.png