// Transforms a speed value from [-100, 100] to [0, 180].
unsigned Vehicle::convert_speed(int speed)
{
speed = constrain(speed, -100, 100);
unsigned result;
if (speed > 0) {
attach_servos();
result = 90 + ((speed * 90) / 100);
} else if (speed < 0) {
attach_servos();
result = 180 - (((100 - speed) * 90) / 100);
} else if (speed == 0) {
right.detach();
left.detach();
}
return result;
}
void setup(){
/*
* Change to set your desired pinouts to PWM
*/
int attach_these[NUM_SERVOS] = {1, 0, 0, 0, 0, 0, 1};
attach_servos(attach_these);
/*
* Initially disable charging mode. Will be caught
* in runtime loop
*/
_disable_charger();
if(control_mode == SERIAL) init_serial();
}
