Changes

==Applications==

==Applications==

===Eclipse Sun Tracking===

===Eclipse Sun Tracking===

The motor driver board controls motors for the sun tracking project. Project Sol reads orientation data from an IMU, the BNO055, and compares the heading to the sun's expected Azimuth. Based on the difference between the Azimuth angle and the heading angle, the teensy on Patriarchy Crusher commands the HBridge driver to turn the motor clockwise or counterclockwise. The end effect is that the GoPro is rotated to face the sun and can thus take pictures of the eclipse.

The motor driver board controls motors for the sun tracking project. The [https://github.com/stanford-ssi/balloons/blob/master/sun_tracking_project.ino software] reads orientation data from an IMU, the BNO055, and compares the heading to the sun's expected Azimuth. Based on the difference between the Azimuth angle and the heading angle, the teensy on Patriarchy Crusher uses a PID to command the HBridge driver to turn the motor clockwise or counterclockwise. The end effect is that the GoPro is rotated to face the sun and can thus take pictures of the eclipse.