Hull Controller Development Roadmap

🗂️ Overview

This roadmap defines the step-by-step implementation and testing strategy for the RC Tank Hull Controller firmware under PlatformIO. Each phase corresponds to a specific subsystem, outlining coding tasks, testing milestones, and relative complexity.

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⚙️ Development Phases

Phase	Module	Implementation Tasks	Testing Milestones	Priority	Complexity
1. Core Framework	main.cpp / main.h	- Implement processCommand() switch-case- Register I2C receive/request events- Implement global responseBuffer- Add system states: NORMAL / ERROR / EMERGENCY_STOP- Setup watchdog timer	✅ System compiles✅ I2C recognized on 0x08✅ Commands echo back expected data	🔥 High	🔸 Medium
2. Configuration Setup	config.h	- Verify all pin mappings- Define all timing constants- Add voltage divider constants- Add debug flags	✅ All pins defined✅ Constants verified✅ Configuration flexible	🔹 Medium	🔹 Low
3. Battery Management System	bms.cpp / bms.h	- Implement ADC voltage read- Apply moving average (10 samples)- Implement battery type detection- Add relay enable/disable- Integrate with I2C responses	✅ Voltage reports correctly✅ Relay toggles✅ Low battery triggers error	🔥 High	🔸 Medium
4. Motor Control Core	motor_control.cpp / motor_control.h	- Create motor data struct- Register L293D & Cytron motors- Implement ramping algorithm- Add stopAllMotors()- Add diagnostic getters	✅ Motors ramp smoothly✅ All motors stop on command✅ Diagnostics output correct	🔥 High	🔴 High
5. Tracks Module	tracks.cpp / tracks.h	- Link track motors via motor_control IDs- Implement differential drive logic- Add arcade drive input- Add E-stop integration	✅ Forward/backward and turning smooth✅ E-stop halts instantly	🔥 High	🔸 Medium
6. Turret Module	turret.cpp / turret.h	- Register rotation/elevation motors- Implement speed mapping- Add stop function- Disable on E-stop	✅ Turret rotates/elevates properly✅ Stops correctly on E-stop	🔹 Medium	🔹 Low
7. Weapons System	weapons.cpp / weapons.h	- Implement timed cannon firing- Implement cooldown timer- Add laser/IR toggles- Integrate safety lock- Optional: firing interrupt	✅ Cannon fires once per cooldown✅ Laser/IR toggle work✅ E-stop disables all	🔥 High	🔴 High
8. Lights Module	lights.cpp / lights.h	- Implement ON/OFF/BLINK logic- Blink timing via millis()- Add safety override	✅ Front/rear lights respond✅ Blink pattern stable✅ E-stop disables lights	🔹 Medium	🔹 Low
9. Status & Telemetry	(Main + Modules)	- Build buildStatusByte() with bit flags- Implement prepareBatteryResponse()- Assemble all telemetry data	✅ All telemetry commands functional✅ Status bits accurate	🔥 High	🔸 Medium
10. System Validation & Integration	(All Modules)	- Connect to Raspberry Pi- Use Python test suite- Stress test commands- Verify power isolation and watchdog reset	✅ All subsystems respond✅ Stable under full load	🚀 Critical	🟢 Mixed

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🧭 Development Strategy

• Complete low-level systems (BMS and Motor Control) first.
• Verify I2C and watchdog stability after every two phases.
• Use serial debug to validate PWM, ADC, and relay outputs before integrating with I2C.
• Perform end-to-end testing from the Raspberry Pi once all modules are integrated.

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📊 Progress Tracking Template

Module	Status	Notes
main.cpp	⬜ Pending	Core I2C and command routing setup
config.h	✅ Complete	Verified pin mappings and constants
bms.cpp	⬜ In Progress	ADC functional, relay control pending
motor_control.cpp	⬜ In Progress	Ramping implementation underway
tracks.cpp	⬜ Pending	Awaiting motor IDs from registration
turret.cpp	⬜ Pending	Mapping logic next
weapons.cpp	⬜ Pending	Cannon cooldown logic next
lights.cpp	⬜ Pending	Blink timing test next

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🧩 Notes

• Prioritize watchdog reliability and battery safety in early stages.
• Keep I2C communication consistent with the Hull Controller API Reference.
• Verify PWM pins and direction logic with oscilloscope before live motor tests.

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