Tensegrity Internal Actuation

The goal is to design an actuated internal payload to provide a locomotion method for the NASA SuperBall tensegrity robot.

Deliverables
After consulting with NASA Tensegrity leaders a list of deliverables was developed for the first and second semester prototypes.

Priority scales as follows: 1-Minimum 2-Desired 3-Luxury

Specifications
The final prototype will have the following specifications.
 * Have 12 actuators
 * Have a sensor calibration sequence
 * Be able to move around inside the tensegrity structure
 * Generate locomotion by tipping the tensegrity structure

Controller Design
Currently the controller being used is a Teensy 3.1 micro controller. This allows us to handle for following controls:
 * 24 interupt pins - Used for encoder tracking of 12 motors
 * I2C capable - used to interface with a PWM board for motor control
 * 72 GHz clock speed - This will handle the processing required to track motor encoders and control motor output.