The wheel speed sensor (tachometer )measures two phases to differentiate between forwards and backwards. See Testing 2026 folder on teams for visuals.

There are 30 teeth on the wheel

The high signal on the square wave corresponds to a tooth detected

Find a way to derive wheel speed

see if any of the wheel speed inputs can be used as an "external timer trigger" (ETR pin) on the stm.

Likely: have a counter that counts the number of wheel ticks. Count how many ticks pass per second and find the RPM of the wheel

File: front controller>src>sensors>dynamics>dynamics

someone started this however it is incorrect, we do not read an analog voltage, it is a digital square wave. Implement the functions to read the wheel speed sensors and derive wheel speed. Do not worry about platform independence right now, just do it for the STM32