Current Servo Setup

As described in Vehicle Assembly each servo should be configured such that the mechanical limits of its vehicle are utilised fully. Since it is technically infeasible to build the vehicles exactly the same, each vehicle will slightly differ in terms of at which servo position it moves completely straight or steers as far as possible to the left or the right. In order to assure that the vehicles have nearly the same moving behaviour, we put up with configuring the vehicle's servos differently. By doing this with the built-in end-point-adjustment (EPA) via the DPC-11 we facilitate that our software does not have to manage the vehicles differently. Instead, the minimal/central/maximal PWM signal corresponds to the left-most/straight/right-most steering command which has been set up via EPA. As a consequence, it is possible to have a different resolution in one servo from left to center and from center to right. Since the servo arm moves on a circular path and the relation between the PWM signal and the steering angle is thus non-linear (even without different resolutions in the settings), we assume the EPA with different resolutions to the left and right to be compensating the non-linearity implicitly. Consequently, we don't manage the non-linearity and the different resolutions explicitly.

The current EPA configurations are listed below:

*Due to possible mismatches between the main board, the chassis, and thus the original ID of a chassis when reassembling the vehicles, the values for these vehicles might be incorrect/permuted.