Drive and steering motor and sensor controller code and PCB design for the Dreamboat - a motorised four-poster bed designed to move in surreal and dreamlike ways.

• Connects to the Dreamboat controller (Raspberry Pi) via USB.
• Receives commands that specify the desired drive speed and angles of the wheels.
• Implements servo control for steering of the four wheels.
• Sends telemetry to the Dreamboat controller, including:
  • Wheel steering positions
  • Current draw for each drive and steering motor
  • Battery voltage
• Designed to run on a Teensy 4.1.
• PlatformIO is used for development.