Wayfarer is MRG’s new motor controller system, with boards designed in KiCad. It is a parallel development to the Nova Motor Controller board, with the goal of moving beyond direct micro-ROS control to eventually become a fully fledged ROS-first autonomous helm control board.
The first version of Wayfarer was developed for RobotX 2024. The main microcontroller is a Teensy 4.1. There are interfaces for a port and starboard Elco EP-5 outboard motor, as well as servo protocol IO pins that can optionally be connected to 5V.
https://github.com/gt-marine-robotics-group/wayfarer/tree/main