Usage

Input

actuator expects a decision stream (see example below), which is usually sent by the controller.

actuatorOutput.Write(
    &pb_outputs.SensorOutput{
        SensorId:  2,
        Timestamp: uint64(time.Now().UnixMilli()),
        SensorOutput: &pb_outputs.SensorOutput_ControllerOutput{
            ControllerOutput: &pb_outputs.ControllerOutput{
                SteeringAngle: float32(steerValue),
                LeftThrottle:  float32(speed),
                RightThrottle: float32(speed),
                FrontLights:   false,
            },
        },
    },
)

SensorOutput_ControllerOutput contains a ControllerOutput object, composed of the following fields:

1. SteeringAngle, a float32 value between -1 (left) and 1 (right)
2. LeftThrottle, a float32 value between -1 (full reverse) and 1 (full forward)
3. RightThrottle, a float32 value between -1 (full reverse) and 1 (full forward)
4. FrontLights, a boolean value previously used to turn on the front lights in the dark, currently not used

Configuration values

1. itwoc-bus - the number of the I2C bus, reserved entirely for the motors, as well as the servo. More details
2. electronic-diff - takes a boolean value to decide whether or not to slow down the inner wheel while taking a turn. This essentially creates an illusion of a differential.
3. track-width - currently unused parameter, previously used for development and setting up the correct values in the locking-diff, should not be altered.
4. servo-scaler - increases or decreases the total movement range of the servo. Takes a value as a percentage, 1 is 100% of a standard range. If you wish to increase the range to e.x. 150%, you would set the value to 1.5; to decrease to e.x. 90%, choose value of 0.9
5. servo-trim - used to calibrate the neutral position of the front wheels. Positive values will make the servo steer towards the right in the neutral position, negative - to the left.
6. fan-cap - legacy value, currently not used.