mobilelab_data_gatherer

Gathers actuation data and sends it to the main control system.

Inputs

• A0 - Controller Steering (PPM) - The steering output from the radio controller
• A1 - Controller Acceleration (PPM) - The acceleration output from the radio controller
• A2 - Autonomous Steering - The steering from the autonomous controller
• A3 - Autonomous Acceleration - The acceleration from the autonomous controller
• B12 - Enable Left (Digital) - Whether the left steering is enabled
• B13 - Enable Right (Digital) - Whether the right steering is enabled
• B14 - Autonomous Mode (Digital) - Whether the car is autonomous

Outputs

• A6 - Right Steering (PWM)
• A7 - Left Steering (PWM)
• A8 - Control Enabled (Digital) - Whether the controller is enabled
• B0 - Acceleration (PWM)
• B15 - Reverse Acceleration (Digital) - Whether the acceleration is backwards
• C13 - Indicator Led (Digital) - Used as a visual indicator