The Arduino board controls the steering and motor servos and it allows drive-by-wire by the main on-board computer. It also intercepts and provides the computer board with input data from the RC receiver.
Input commands are strings received from the USB port.
Set the motor servo to a value in the [0, 180] range:
'M [value]\n'
Set the steering servo to a value in the [0, 180] range:
'S [value]\n'
Set output to raw receiver values:
'R\n'
Set receiver output to values in the [0, 180] range:
'V\n'
Receive heartbeat from the computer board:
'H\n'
Output to the USB port is a string containing the input from the RC remote control for steering and throttle:
'[steering] [throttle]\n'
USB speed is set to 38400 baud.
Requirements:
EnableInterruptlibrary
