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Summary of change:
'''Steer by wire''' analog => PWM (speed dependent conversion) by round boostcontrol function. '''Measured analog voltage output of the joystick'''. * extreme left turn: 1.25 V * just in the middle: 2.5 V (trimmed to mid-position) * extreme right turn: 3.88 V With extreme trimming 0-5V can be reached (though not at the same trimming-position). Joystick powered from dedicated 5V regulator, as the servo-supply was "nervous" during servo movements. Needs extensive testing. Use only at non-lethal vehicle speeds (max 40km/h in a protected chassis). * steering can be configured with 17 point curve. ** At higher wheelspeed the steering the end-positions are narrowed ---- '''Special Round feature''' * Needs special 0.5.2 firmware * Use the second Analog input ( Dsub15/pin 5 )for wheel input ** the analog value will limited in firmware: *** 0..10km/h: no limit ( 0-5V ) *** 10-26km/h: limit gradually 0..50%. For example at 18km/h (used min: 0.6V ... max: 4.4V so first 2 and last 2 configured values cannot be reached). *** 26km/h...: limit 50% ( used min: 1.25V; max: 3.75V so first 4 and last 4 configured values cannot be reached). ** the limited analog value goes through the 17 point analog input 2 curve ** the result of the curve goes out on the pwm_0 output ( Dsub15/pin 2 ) ---- '''Servo data''' Tested with v3 boost alternate function 1.1.8x firmware * 375 Hz * inverted p259 output pulled up to +5V * 25 .. 99% output was reasonable Achieved best results with 57 Hz PWM frequency, pulse high for appr. 1-2 msec. The time of low level seems to not make a difference in position-command. But at higher freq the servo was a bit nervous with more small back-n-forth adjustments.
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