Firmware Overview

Key Data Structures

ControllerInput

A snapshot of raw controller state: - connection status - steering axis (lx) - triggers (r2, l2) - action buttons (honk, boost)

DriveCommand

Processed driving intent: - throttle: forward/back value from triggers - steering: steering value from stick - left, right: mixed outputs for differential drive

feedbackState

Tracks non-blocking timing + state for: - buzzer pattern playback - RGB blink playback

Design Rule (important)

Only one function should write to the buzzer pin.

This prevents “tick” bugs caused by multiple parts of the code fighting over BUZ.