V 5 Beta

[whiterose]

How Counts Per Degree work

The A/D converter puts out -4000 to +4000 (8000 in total) levels as the Wheel Angle Sensor puts out 0 to 5v. To convert that into steer angle degrees - because we don’t visualize counts very well, we now divide those levels by counts per degree. if CPD is 100, then the resulting counts becomes -40 to + 40. 4000/100 = 40. Using 200 the new “range” is + - 20. Or 4000/20. They are still counts but it is easier to visualize as degrees of angle of the actual front wheels. So when the CPD is increa…