Thursday, June 19, 2008

Chassis Abstraction

Now that the servo works, it's time to create a class to represent the chassis servo and ESC in the microcontroller code. I want to create a "chassis" object, which can be commanded to set the steering and throttle somewhere between -100% and 100%. The chassis object will be calibrated and will translate the abstract percentage into the correct servo values. Here's the code:

t_chassis.h - header file describing the class
t_chassis.cpp - implementation file
util.h - a few macros and definitions

By including this in the Arduino program, and changing the constants in t_chassis.h to match the correct values for the servo minimum, center and maximum, and the corresponding values for the ESC.

An example Arduino program would look like this:

chassisTest.cpp

Here's a video of the program in action:

video

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