RCArduino Yaw Control - Part 2

 

RCArduinoYawControl by DuaneB is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License.
Based on a work at rcarduino.blogspot.com.

The Project Pitch - 

Do you have an RC Car thats just too unpredictable to really enjoy ?

Are you a beginner driver in the rear wheel drive classes and could use some help ?

Do you race in a class where electronic assistance is allowed ?

Existing solutions are not helping you as they fail to address the root cause of RC Car instability. 

Race orientated RC Cars are powerful enough to reach scale speeds of 600 miles per hour. Stability solutions currently available try to address this excess power by actively steering into skids however this approach cannot hope to match up to the vast amounts of power resulting in frustration, broken cars and lost interest.

The RCArduino solution is the first complete solution to RC Car yaw control and provides the perfect introduction to driving the fastest and most challenging RC Race cars -

 - Learn to drive high powered RC Cars using the RCArduino adjustable assistance system.

 - Bring the fun back into high powered RC

 - Reduce the sensitivity as your skill level increases.

 - Avoid unecessary crashes and breakage while learning

40Km/h Arduino -Passing The Controls Over To Get Feedback From Other Track users

The Project

In Yaw Control Part 1 I discussed how gyroscopes can be applied in Radio Controlled cars to reduce yaw under braking and acceleration.

Since this first post I have developed an Arduino based yaw control system which goes beyond the original goals to address the major flaw in the gyro based approach.

Anti-Yaw Control Part 1 -  A Flawed Approach

http://rcarduino.blogspot.com/2011/12/anti-yaw-control-part-1.html

Background - Why do we need Yaw Control ?

Radio controlled cars have many times the power to weight ratio of conventional cars. In front wheel drive and four wheel drive RC Cars this can be seen in the form of wheel spin and power slides. Few of the rear wheel drive RC Car designs are able to cope with this excess power resulting in a car that spins out under acceleration. All of my RWD Cars - Tamiya M04, F103GT, 3Racing F109 and Sand Scorcher will spin out under modest acceleration.

A similar problem exists with braking, in a RWD RC Car, the motor provides braking, but as the motor is only attached to the rear wheels the effect is similar to pulling the handbrake (e-brake) in a road car. Great for j-turns, but its not going to get you around the track very quickly.

The original and flawed concept

My original design was based on an established idea which is to use a RC Helicopter gyroscope to counter steer into a skid before it can develop into a spin. These gyroscopes are readily available and are used in RC Helicopters to automatically increase or decrease the tail rotor speed to compensate for changes in the main rotor speed which would otherwise cause the helicopter to rotate. This type of gyro is known as a rate gyro.

Rate Gryo Fitted To My F103GT RWD RC Race Car

To use a rate gyro in a car, the gyro is connected between the receiver and the steering servo. The gyro listens to the incoming steering signal and generates an output based on this and the rate of rotation. When the model is accelerating or braking with no steering input, the gyro will detect the car starting to rotate and automatically signal the steering servo to steer into the skid and bring it under control.



Sounds good, whats the problem ?

If we go back to the statement under 'Why do we need Yaw Control' -

'Radio controlled cars have many times the power to weight ratio of conventional cars.'

It is fundamentally a power problem. Attempting to address the problem through steering alone will only get us so far.

So what is the solution ?

The solution is to take active control of both steering and throttle channels,  this way we can address the original cause of the problem (reduce the excess power) and the resulting effect (steer into the slide before it becomes a spin).

Unfortunately RC Gyros are primarily designed for use in helicopters and so while we can use them to add active counter steer to our cars, they are not able to interface with the throttle channel and are therefore unable to address the root cause of our problem.

Fortunately there is a interesting micro controller project to build this dual channel active control system.

The RCArduino Solution

Note : For a background on the techniques used to read the RC Receiver, Output the RC Signal and Calibrate with the RC Transmitter refer to the previous RCArduino posts listed below -


http://rcarduino.blogspot.com/2012/01/how-to-read-rc-receiver-with.html

http://rcarduino.blogspot.com/2012/04/how-to-read-multiple-rc-channels-draft.html

http://rcarduino.blogspot.com/2012/05/interfacing-rc-channels-to-l293d-motor.html

The RCArduino approach to yaw control implements tuneable control of both the throttle and steering channels. Separate adjustments are provided for each channel ranging from no intervention to very aggressive intervention.

Features -

 - One touch calibration
 - Fully and independently adjustable throttle intervention
 - Fully and independently adjustable steering  intervention

 - No need to cut or otherwise alter existing connections to your car electronics
 - Fail safe mode
 - Unique software specifically designed for high powered RC Cars

Version 0.1 - Big, but easy to work on.

How does it work ?

The unit reads the incoming signals and generates corresponding output signals. When the unit detects the car rotating it will calculate an intervention component for the output to reduce the rotation and allow the driver to retain control. The degree of intervention is adjustable from no intervention to very aggressive.

A further adjustment is provided to control the 'throttle intervention recovery period', when this is set to a low value throttle intervention is applied something like and on/off switch, with a higher value throttle intervention fades away over a period of upto 2 seconds providing for a gradual transition from full intervention to full throttle.

The intervention recovery period provides for a tuneable degree of drift. With a long recovery period the car will be very stable through the corner and onto the straight. With a minimal recovery period the throttle channel will be continually 'blipped' throughout the corner and a moderate drift can be maintained. With low recovery periods, transistions can be very aggressive, as soon as the system detects that rotation has stopped it will apply full power, this can happen in the transistion of an S bend or when exiting a corner onto the straight. This is a useful tuning technique for learning where a car can be driven hard and which points on the circuit require a more restrained approach.

Whats coming in version 1.0 ?

Version 1.0 is smaller and adds LED level meters which display -
1) The rotation rate being reported by the gyro
2) The level of steering intervention currently being applied
3)  The level of throttle intervention being applied
4) An additional tuning option on the steering channel
5) An additional tuning option for braking

Next Steps -

The system has been road tested on various surfaces and tyre combinations for around 10 hours without any unpredictable behaviour, the next step is to change the motor from the current entry level silver can motor (<>15,000 RPM) to a Sport Tuned Motor (<>22,000 RPM).

Version 0.1 Code - Lots of obvious optimization needed and lacking features being tested in 1.0, but in the interest of sharing, here it is - 

#include <Servo.h>
#include <EEPROM.h>

// RCArduinoYawControl
//
// RCArduinoYawControl by DuaneB is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License.
// Based on a work at rcarduino.blogspot.com.
//
// rcarduino.blogspot.com
//
// A simple approach for reading two RC Channels from a hobby quality receiver
// and outputting to the common motor driver IC the L293D to drive a tracked vehicle
//
// We will use the Arduino to mix the channels to give car like steering using a standard two stick
// or pistol grip transmitter. The Aux channel will be used to switch and optional momentum mode on and off
//
// See related posts -
//
// Reading an RC Receiver - What does this signal look like and how do we read it -
// http://rcarduino.blogspot.co.uk/2012/01/how-to-read-rc-receiver-with.html
//
// The Arduino library only supports two interrupts, the Arduino pinChangeInt Library supports more than 20 -
// http://rcarduino.blogspot.co.uk/2012/03/need-more-interrupts-to-read-more.html
//
// The Arduino Servo Library supports upto 12 Servos on a single Arduino, read all about it here -
// http://rcarduino.blogspot.co.uk/2012/01/can-i-control-more-than-x-servos-with.html
//
// The wrong and then the right way to connect servos to Arduino
// http://rcarduino.blogspot.com/2012/04/servo-problems-with-arduino-part-1.html
// http://rcarduino.blogspot.com/2012/04/servo-problems-part-2-demonstration.html
//
// Using pinChangeInt library and Servo library to read three RC Channels and drive 3 RC outputs (mix of Servos and ESCs)
// http://rcarduino.blogspot.com/2012/04/how-to-read-multiple-rc-channels-draft.html
//
// rcarduino.blogspot.com
//

// Two channels in
// Two channels out
// One program button
// One throttle intervention LED
// One Steering Intervention LED
// One Steering Sensitivity POT
// One Throttle Sensitivity POT
// One decay/damping POT

#define RC_NEUTRAL 1500
#define RC_MAX 2000
#define RC_MIN 1000
#define RC_DEADBAND 1

#define ROTATION_CENTER 380

uint16_t unSteeringMin = RC_MIN;
uint16_t unSteeringMax = RC_MAX;
uint16_t unSteeringCenter = RC_NEUTRAL;

uint16_t unThrottleMin = RC_MIN;
uint16_t unThrottleMax = RC_MAX;
uint16_t unThrottleCenter = RC_NEUTRAL;

uint16_t unRotationCenter = ROTATION_CENTER; // the gyro I am using outputs a center voltage of <> 1.24 volts
// full range is 0 to 2*1.24 = 2.48
// Using the Arduino voltage reference of 3.3 volts gives a center point of (1.24/(3.3/1024)) = 384
// In tests I see 380 so I will use 380 as my default value.

//////////////////////////////////////////////////////////////////
// PIN ASSIGNMENTS
//////////////////////////////////////////////////////////////////
// ANALOG PINS
//////////////////////////////////////////////////////////////////
#define THROTTLE_SENSITIVITY_PIN 0
#define STEERING_SENSITIVITY_PIN 1
#define THROTTLE_DECAY_PIN 2
#define STEERING_DECAY_PIN 3
#define GYRO_PIN 5
//////////////////////////////////////////////////////////////////
// DIGITAL PINS
//////////////////////////////////////////////////////////////////
#define PROGRAM_PIN 9
#define INFORMATION_INDICATOR_PIN 5
#define ERROR_INDICATOR_PIN 6
#define THROTTLE_IN_PIN 2
#define STEERING_IN_PIN 3
#define THROTTLE_OUT_PIN 8
#define STEERING_OUT_PIN 7

// These bit flags are set in bUpdateFlagsShared to indicate which
// channels have new signals
#define THROTTLE_FLAG 1
#define STEERING_FLAG 2

// holds the update flags defined above
volatile uint8_t bUpdateFlagsShared;

// shared variables are updated by the ISR and read by loop.
// In loop we immediatley take local copies so that the ISR can keep ownership of the
// shared ones. To access these in loop
// we first turn interrupts off with noInterrupts
// we take a copy to use in loop and the turn interrupts back on
// as quickly as possible, this ensures that we are always able to receive new signals
volatile uint16_t unThrottleInShared;
volatile uint16_t unSteeringInShared;

// These are used to record the rising edge of a pulse in the calcInput functions
// They do not need to be volatile as they are only used in the ISR. If we wanted
// to refer to these in loop and the ISR then they would need to be declared volatile
uint32_t ulThrottleStart;
uint32_t ulSteeringStart;

// used to ensure we are getting regular throttle signals
uint32_t ulLastThrottleIn;

#define MODE_FORCEPROGRAM 0
#define MODE_RUN 1
#define MODE_QUICK_PROGRAM 2
#define MODE_FULL_PROGRAM 3
#define MODE_ERROR 4

uint8_t gMode = MODE_RUN;
uint32_t ulProgramModeExitTime = 0;

// Index into the EEPROM Storage assuming a 0 based array of uint16_t
// Data to be stored low byte, high byte
#define EEPROM_INDEX_STEERING_MIN 0
#define EEPROM_INDEX_STEERING_MAX 1
#define EEPROM_INDEX_STEERING_CENTER 2
#define EEPROM_INDEX_THROTTLE_MIN 3
#define EEPROM_INDEX_THROTTLE_MAX 4
#define EEPROM_INDEX_THROTTLE_CENTER 5
#define EEPROM_INDEX_ROTATION_CENTER 6

Servo servoThrottle;
Servo servoSteering;

uint16_t unThrottleSensitivity = 0;
uint16_t unSteeringSensitivity = 0;
uint16_t unThrottleDecay = 0;
uint16_t unSteeringDecay = 0;

void setup()
{
  Serial.begin(9600);

  pinMode(PROGRAM_PIN,INPUT);
  pinMode(INFORMATION_INDICATOR_PIN,OUTPUT);
  pinMode(ERROR_INDICATOR_PIN,OUTPUT);

  attachInterrupt(0 /* INT0 = THROTTLE_IN_PIN */,calcThrottle,CHANGE);
  attachInterrupt(1 /* INT1 = STEERING_IN_PIN */,calcSteering,CHANGE);

  readAnalogSettings();
 
  servoThrottle.attach(THROTTLE_OUT_PIN);
  servoSteering.attach(STEERING_OUT_PIN);
   
  if(false == readSettingsFromEEPROM())
  {
    gMode = MODE_FORCEPROGRAM;
  }
 
  ulLastThrottleIn = millis();
}

void loop()
{
  // create local variables to hold a local copies of the channel inputs
  // these are declared static so that thier values will be retained
  // between calls to loop.
  static uint16_t unThrottleIn;
  static uint16_t unSteeringIn;
  // local copy of rotation rate
  static uint16_t unRotation;
  // local copy of update flags
  static uint8_t bUpdateFlags;

  static uint16_t unThrottleInterventionPeak;
  static uint16_t unSteeringInterventionPeak;
 

  uint32_t ulMillis = millis();
 
  // check shared update flags to see if any channels have a new signal
  if(bUpdateFlagsShared)
  {
    noInterrupts(); // turn interrupts off quickly while we take local copies of the shared variables

      // take a local copy of which channels were updated in case we need to use this in the rest of loop
    bUpdateFlags = bUpdateFlagsShared;

    // in the current code, the shared values are always populated
    // so we could copy them without testing the flags
    // however in the future this could change, so lets
    // only copy when the flags tell us we can.

    if(bUpdateFlags & THROTTLE_FLAG)
    {
      unThrottleIn = unThrottleInShared;
    }

    if(bUpdateFlags & STEERING_FLAG)
    {
      unSteeringIn = unSteeringInShared;
    }

    // clear shared copy of updated flags as we have already taken the updates
    // we still have a local copy if we need to use it in bUpdateFlags
    bUpdateFlagsShared = 0;

    interrupts(); // we have local copies of the inputs, so now we can turn interrupts back on
    // as soon as interrupts are back on, we can no longer use the shared copies, the interrupt
    // service routines own these and could update them at any time. During the update, the
    // shared copies may contain junk. Luckily we have our local copies to work with :-)
  }

  if(false == digitalRead(PROGRAM_PIN) && gMode != MODE_FULL_PROGRAM)
  {
    // give 10 seconds to program
    gMode = MODE_QUICK_PROGRAM;
 
    // turn indicators off for QUICK PROGRAM mode
    digitalWrite(INFORMATION_INDICATOR_PIN,LOW);   
    digitalWrite(ERROR_INDICATOR_PIN,LOW);   

    // wait two seconds and test program pin again
    // if pin if still held low, enter full program mode
    // otherwise read sensitivity pots and return to run
    // mode with new sensitivity readings.
    delay(2000);
   
    if(false == digitalRead(PROGRAM_PIN))
    {
      gMode = MODE_FULL_PROGRAM;
      ulProgramModeExitTime = ulMillis + 10000;
      
      unThrottleMin = RC_NEUTRAL;
      unThrottleMax = RC_NEUTRAL;
      unSteeringMin = RC_NEUTRAL;
      unSteeringMax = RC_NEUTRAL;
   
      unThrottleCenter = unThrottleIn;
      unSteeringCenter = unSteeringIn;
    }
    else
    {
      gMode = MODE_RUN; 
      ulMillis = millis();   
      ulLastThrottleIn = ulMillis;
    }
   
    // Take new sensitivity and decay readings for quick program and full program modes here
    readAnalogSettings();
  }
 
  if(gMode == MODE_FULL_PROGRAM)
  {
   if(ulProgramModeExitTime < ulMillis)
   {
     // set to 0 to exit program mode
     ulProgramModeExitTime = 0;
     gMode = MODE_RUN;

     analogRead(GYRO_PIN);
     uint32_t ulTotal = 0;
     for(int nCount = 0;nCount < 50;nCount++)
     {
       ulTotal += analogRead(GYRO_PIN);
     }
     unRotationCenter = ulTotal/50;

     writeSettingsToEEPROM();
    
     ulLastThrottleIn = ulMillis;
   }
   else
   {
     if(unThrottleIn > unThrottleMax && unThrottleIn <= RC_MAX)
     {
       unThrottleMax = unThrottleIn;
     }
     else if(unThrottleIn < unThrottleMin && unThrottleIn >= RC_MIN)
     {
       unThrottleMin = unThrottleIn;
     }
    
     if(unSteeringIn > unSteeringMax && unSteeringIn <= RC_MAX)
     {
       unSteeringMax = unSteeringIn;
     }
     else if(unSteeringIn < unSteeringMin && unSteeringIn >= RC_MIN)
     {
       unSteeringMin = unSteeringIn;
     }
   }
  }
  else if(gMode == MODE_RUN)
  {
    if((ulLastThrottleIn + 500) < ulMillis)
    {
      gMode = MODE_ERROR;
    }
    else
    {
      // we are checking to see if the channel value has changed, this is indicated
      // by the flags. For the simple pass through we don't really need this check,
      // but for a more complex project where a new signal requires significant processing
      // this allows us to only calculate new values when we have new inputs, rather than
      // on every cycle.
      if(bUpdateFlags)
      {
       unRotation = analogRead(GYRO_PIN);
      }

      if(bUpdateFlags & THROTTLE_FLAG)
      {
        ulLastThrottleIn = ulMillis;
       
        // A good idea would be to check the before and after value,
        // if they are not equal we are receiving out of range signals
        // this could be an error, interference or a transmitter setting change
        // in any case its a good idea to at least flag it to the user somehow
        uint16_t unThrottleIntervention = 0;
       
        if(unRotation != unRotationCenter)
        {
          uint32_t ulRotationWithGain = 0;
          if(unRotation > unRotationCenter)
          {
           ulRotationWithGain = (long)(unRotation - unRotationCenter)*unThrottleSensitivity;
           unThrottleIntervention = map(ulRotationWithGain,0,(long)unRotationCenter*128L,0,500);
          }
          else
          {
           ulRotationWithGain = (long)(unRotationCenter - unRotation)*unThrottleSensitivity;
           unThrottleIntervention = map(ulRotationWithGain,0,(long)unRotationCenter*128L,0,500);
          }
        }

        if(unThrottleIntervention > unThrottleInterventionPeak)
        {
          unThrottleInterventionPeak = unThrottleIntervention;
        }
        else
        {
          if(unThrottleInterventionPeak >= unThrottleDecay)
          {
            unThrottleInterventionPeak -= unThrottleDecay;
          }
          else
          {
            unThrottleInterventionPeak = 0;
          }
         
          if(unThrottleIntervention < unThrottleInterventionPeak)
          {
            unThrottleIntervention = unThrottleInterventionPeak;
          }
        }
       
        if(unThrottleIn >= unThrottleCenter)
        {
          unThrottleIn = constrain(unThrottleIn - unThrottleIntervention,unThrottleCenter,unThrottleIn);
        }
        else
        {
          unThrottleIn = constrain(unThrottleIn + unThrottleIntervention,unThrottleMin,unThrottleCenter);
        }

        servoThrottle.writeMicroseconds(unThrottleIn);
      }
    }
   
    if(bUpdateFlags & STEERING_FLAG)
    {
      uint16_t unSteeringIntervention = 0;
      uint8_t bInvert = false;
       
      if(unRotation != unRotationCenter)
      {
        uint32_t ulRotationWithGain = 0;
       
        // note steering offers gain from 0 to 4
        uint16_t unInterventionMaxMinusInput = 0;
        if(unSteeringIn >= unSteeringCenter)
        {
          unInterventionMaxMinusInput = (unSteeringMax-unSteeringCenter) - (unSteeringIn - unSteeringCenter);
          unInterventionMaxMinusInput = constrain(unInterventionMaxMinusInput,0,unSteeringMax-unSteeringCenter);
        }
        else
        {
          unInterventionMaxMinusInput = (unSteeringCenter - unSteeringMin) - (unSteeringCenter - unSteeringIn);
          unInterventionMaxMinusInput = constrain(unInterventionMaxMinusInput,0,unSteeringCenter - unSteeringIn);
        }
      
        if(unRotation > unRotationCenter)
        {
         bInvert = true;
         ulRotationWithGain = (long)(unRotation - unRotationCenter)*unSteeringSensitivity;
         unSteeringIntervention = map(ulRotationWithGain,0,(long)unRotationCenter*128L,0,unInterventionMaxMinusInput);
        }
        else
        {
         ulRotationWithGain = (long)(unRotationCenter - unRotation)*unSteeringSensitivity;
         unSteeringIntervention = map(ulRotationWithGain,0,(long)unRotationCenter*128L,0,unInterventionMaxMinusInput);
        }
      }
       
      if(bInvert)
      {
        unSteeringIn = constrain(unSteeringIn - unSteeringIntervention,unSteeringMin,unSteeringMax);
      }
      else
      {
        unSteeringIn = constrain(unSteeringIn + unSteeringIntervention,unSteeringMin,unSteeringMax);
      }
      servoSteering.writeMicroseconds(unSteeringIn);
    }
  }
  else if(gMode == MODE_ERROR)
  {
    servoThrottle.writeMicroseconds(unThrottleCenter);
   
    // allow steering to get to safety
    if(bUpdateFlags & STEERING_FLAG)
    {
      unSteeringIn = constrain(unSteeringIn,unSteeringMin,unSteeringMax);

      servoSteering.writeMicroseconds(unSteeringIn);
    }
  }
 
  bUpdateFlags = 0;
 
  animateIndicatorsAccordingToMode(gMode,ulMillis);
}

void animateIndicatorsAccordingToMode(uint8_t gMode,uint32_t ulMillis)
{
  static uint32_t ulLastUpdateMillis;
  static boolean bAlternate;

  if(ulMillis > (ulLastUpdateMillis + 1000))
  {
    ulLastUpdateMillis = ulMillis;
    bAlternate = (!bAlternate);
    switch(gMode)
    {
      // flash alternating info and error once a second
      case MODE_FORCEPROGRAM:
         digitalWrite(ERROR_INDICATOR_PIN,bAlternate);   
         digitalWrite(INFORMATION_INDICATOR_PIN,false == bAlternate);   
      break;
      // steady info, turn off error
      case MODE_RUN:
        digitalWrite(ERROR_INDICATOR_PIN,LOW);   
        digitalWrite(INFORMATION_INDICATOR_PIN,HIGH);
      break;
      // flash info once a second, turn off error
      case MODE_FULL_PROGRAM:
        digitalWrite(INFORMATION_INDICATOR_PIN,bAlternate);   
        digitalWrite(ERROR_INDICATOR_PIN,LOW);   
      break;
      // alternate error, turn off info
      // MODE_QUICK_PROGRAM is self contained and should never get here,
      // if it does we have an error.
      default:
      case MODE_ERROR:
        digitalWrite(INFORMATION_INDICATOR_PIN,LOW);
        digitalWrite(ERROR_INDICATOR_PIN,bAlternate);   
      break;
    }
  }
}

// simple interrupt service routine
void calcThrottle()
{
  // if the pin is high, its a rising edge of the signal pulse, so lets record its value
  if(PIND & 4)
  {
    ulThrottleStart = micros();
  }
  else
  {
    // else it must be a falling edge, so lets get the time and subtract the time of the rising edge
    // this gives use the time between the rising and falling edges i.e. the pulse duration.
    unThrottleInShared = (uint16_t)(micros() - ulThrottleStart);
    // use set the throttle flag to indicate that a new throttle signal has been received
    bUpdateFlagsShared |= THROTTLE_FLAG;
  }
}

void calcSteering()
{
  if(PIND & 8)
  {
    ulSteeringStart = micros();
  }
  else
  {
    unSteeringInShared = (uint16_t)(micros() - ulSteeringStart);
    bUpdateFlagsShared |= STEERING_FLAG;
  }
}

uint8_t readSettingsFromEEPROM()
{
  uint8_t bError = false;
 
  unSteeringMin = readChannelSetting(EEPROM_INDEX_STEERING_MIN);
  if(unSteeringMin < RC_MIN || unSteeringMin > RC_NEUTRAL)
  {
    unSteeringMin = RC_MIN;
    bError = true;
  }
  Serial.println(unSteeringMin);

  unSteeringMax = readChannelSetting(EEPROM_INDEX_STEERING_MAX);
  if(unSteeringMax > RC_MAX || unSteeringMax < RC_NEUTRAL)
  {
    unSteeringMax = RC_MAX;
    bError = true;
  }
  Serial.println(unSteeringMax);
 
  unSteeringCenter = readChannelSetting(EEPROM_INDEX_STEERING_CENTER);
  if(unSteeringCenter < unSteeringMin || unSteeringCenter > unSteeringMax)
  {
    unSteeringCenter = RC_NEUTRAL;
    bError = true;
  }
  Serial.println(unSteeringCenter);

  unThrottleMin = readChannelSetting(EEPROM_INDEX_THROTTLE_MIN);
  if(unThrottleMin < RC_MIN || unThrottleMin > RC_NEUTRAL)
  {
    unThrottleMin = RC_MIN;
    bError = true;
  }
  Serial.println(unThrottleMin);

  unThrottleMax = readChannelSetting(EEPROM_INDEX_THROTTLE_MAX);
  if(unThrottleMax > RC_MAX || unThrottleMax < RC_NEUTRAL)
  {
    unThrottleMax = RC_MAX;
    bError = true;
  }
  Serial.println(unThrottleMax);
 
  unThrottleCenter = readChannelSetting(EEPROM_INDEX_THROTTLE_CENTER);
  if(unThrottleCenter < unThrottleMin || unThrottleCenter > unThrottleMax)
  {
    unThrottleCenter = RC_NEUTRAL;
    bError = true;
  }
  Serial.println(unThrottleCenter);
 
  unRotationCenter = readChannelSetting(EEPROM_INDEX_ROTATION_CENTER);
  Serial.println(unRotationCenter);
 
  // ideally we would have 512 as the center
  if(unRotationCenter < 100 || unRotationCenter > 560)
  {
    unRotationCenter = ROTATION_CENTER;
    bError = true;
  }
 
  return (false == bError);
}

void writeSettingsToEEPROM()
{
  writeChannelSetting(EEPROM_INDEX_STEERING_MIN,unSteeringMin);
  writeChannelSetting(EEPROM_INDEX_STEERING_MAX,unSteeringMax);
  writeChannelSetting(EEPROM_INDEX_STEERING_CENTER,unSteeringCenter);
  writeChannelSetting(EEPROM_INDEX_THROTTLE_MIN,unThrottleMin);
  writeChannelSetting(EEPROM_INDEX_THROTTLE_MAX,unThrottleMax);
  writeChannelSetting(EEPROM_INDEX_THROTTLE_CENTER,unThrottleCenter);
 
  writeChannelSetting(EEPROM_INDEX_ROTATION_CENTER,unRotationCenter);
           
  Serial.println(unSteeringMin);
  Serial.println(unSteeringMax);
  Serial.println(unSteeringCenter);
  Serial.println(unThrottleMin);
  Serial.println(unThrottleMax);
  Serial.println(unThrottleCenter);
 
  Serial.println(unRotationCenter);
}


uint16_t readChannelSetting(uint8_t nStart)
{
  uint16_t unSetting = (EEPROM.read((nStart*sizeof(uint16_t))+1)<<8);
  unSetting += EEPROM.read(nStart*sizeof(uint16_t));

  return unSetting;
}

void writeChannelSetting(uint8_t nIndex,uint16_t unSetting)
{
  EEPROM.write(nIndex*sizeof(uint16_t),lowByte(unSetting));
  EEPROM.write((nIndex*sizeof(uint16_t))+1,highByte(unSetting));
}

/////////////////////////////////////////////////////////////////////////////
//
// The following function reads the analog settings.
// These adjustments are read at startup and anytime that the program button
// is pressed including QUICK_PROGRAM and FULL_PROGRAM
//
// Note the 1-1023 range for sensitivity and 1-100 range for decay 1 = 500/(50*1) per sec = 10 seconds. 100 = 500/(50*100) per sec = .1 seconds
//
/////////////////////////////////////////////////////////////////////////////
void readAnalogSettings()
{
 // dummy read to settle ADC
  analogRead(THROTTLE_SENSITIVITY_PIN);
  unThrottleSensitivity  = constrain(analogRead(THROTTLE_SENSITIVITY_PIN),1,1023); 

  // dummy read to settle ADC
  analogRead(STEERING_SENSITIVITY_PIN);
  unSteeringSensitivity = constrain(analogRead(STEERING_SENSITIVITY_PIN),1,1023);
 
  // dummy read to settle ADC
  analogRead(THROTTLE_DECAY_PIN);
  unThrottleDecay = analogRead(THROTTLE_DECAY_PIN);
  // if its at the bottom end of the range, turn it off
  if(unThrottleDecay <= 50) // instant
  {
    unThrottleDecay = 500; // = 500/1
  }
  else if(unThrottleDecay <= 100) // 2 tenths of a second
  {
    unThrottleDecay = 50; // 2 tenths = (2*(1/10))/(1/50)
  }
  else if(unThrottleDecay <= 150) // 3 tenths
  {
    unThrottleDecay = 33;
  }
  else if(unThrottleDecay <= 200) // 4 tenths
  {
    unThrottleDecay = 25;
  }
  else if(unThrottleDecay <= 250) // 5 tenths
  {
    unThrottleDecay = 20;
  }
  else if(unThrottleDecay <= 300) // 6 tenths
  {
    unThrottleDecay = 17;
  }
  else if(unThrottleDecay <= 350) // 7 tenths
  {
    unThrottleDecay = 14;
  }
  else if(unThrottleDecay <= 400) // 8 tenths
  {
    unThrottleDecay = 12;
  }
  else if(unThrottleDecay <= 500) // 9 tenths
  {
    unThrottleDecay = 11; 
  }
  else if(unThrottleDecay <= 600) // 10 tenths
  {
    unThrottleDecay = 10;
  }
  else if(unThrottleDecay <= 700) // 11 tenths
  {
    unThrottleDecay = 9;
  }
  else if(unThrottleDecay <= 800) // 12 tenths
  {
    unThrottleDecay = 8;
  }
  else if(unThrottleDecay <= 850) // 16 tenths
  {
    unThrottleDecay = 7;
  }
  else if(unThrottleDecay <= 900) // 2 seconds
  {
    unThrottleDecay = 5;
  }
  else if(unThrottleDecay <= 1000)
  {
     unThrottleDecay = 4;
  }
  else
  {
    unThrottleDecay = 1;
  }
 
  Serial.println(unThrottleDecay);
 
  // dummy read to settle ADC
  analogRead(STEERING_DECAY_PIN);
  unSteeringDecay = constrain(analogRead(STEERING_DECAY_PIN),1,500);
}