I am attempting to create a single-board dual motor ESC for use on a small 3S UGV. It's been pretty slow going reverse engineering from the 6.5 schematics and the hw_conf files. My original idea was just to duplicate basically everything and then have them connected to single CAN bus with the vehicle controller, but I just discovered the HAS_DUAL_MOTORS parameter which seems perfect for me application.
What is the difference between HAS_DUAL_MOTORS and HAS_DUAL_MOTORS_PARALLEL? Also, is there a specific way I have to connect the ADCs and possible ADC switches in order to accommodate all the requisite sensors? My goal is to have 3 phase shunts for each side.
Any firmware or hardware advice would be greatly appreciated.