The chair's supervisor. It runs DHCP for the drive boards, commands each wheel over ATOS, publishes mib/status for the HMI, and owns the deadman: joystick released means SAFE_STOP, joystick silent means stop requesting ARMED.
The PRD did not list this node.
Planned (from its README)
- Positional control with MCP266 motor controllers
- Communications and control of PACE Racer motor controllers over PoE
- IMU, software limit switches, MT6701 and carriage encoders, load cells
Questions for SPACE
- The MIB is already the supervisor and the DHCP server. Is it the zone controller's brain, or does it stay a separate node that talks to zones? See ADR-0002.
- The README says PoE to the Racers. That conflicts with single-pair Ethernet with power over data lines. See ADR-0004.
- Its sensor inputs (IMU, load cells, limit switches) are the first candidates to move onto 10BASE-T1S sense nodes.