ertuncozbay.dev/projects/rc-autonomous-vehicle.html

<!DOCTYPE html>
<html lang="en" data-theme="colorful">
<head>
  <meta charset="UTF-8">
  <meta name="viewport" content="width=device-width, initial-scale=1.0">
  <title>RC and Autonomous 4WD Vehicle — Projects — Ertunç Özbay</title>
  <meta name="description" content="Project notes and 2.4 GHz telemetry protocol structures for the RC and Autonomous 4WD Vehicle by Ertunç Özbay.">
  <link rel="icon" type="image/svg+xml" href="../assets/images/favicon.svg">
  <link rel="stylesheet" href="../assets/css/style.css?v=2">
</head>
<body>
  <a class="skip-link" href="#main-content">Skip to main content</a>

  <header class="site-header">
    <div class="container header-inner">
      <a class="site-brand" href="../index.html">
        <span class="brand-mark" aria-hidden="true">EÖ</span>
        <span>
          Ertunç Özbay
          <span class="brand-subtitle">embedded // hardware // open-source</span>
        </span>
      </a>

      <div class="header-controls">
        <div class="theme-switcher" role="group" aria-label="Select UI Theme">
          <button type="button" class="theme-btn" data-set-theme="colorful" aria-pressed="true">🎨 Colorful</button>
          <button type="button" class="theme-btn" data-set-theme="neon" aria-pressed="false">🌈 Neon</button>
          <button type="button" class="theme-btn" data-set-theme="blueprint" aria-pressed="false">📐 Blueprint</button>
        </div>

        <button class="nav-toggle" type="button" data-nav-toggle aria-expanded="false" aria-controls="primary-navigation">
          <span aria-hidden="true">☰</span>
          <span data-nav-label>Menu</span>
        </button>

        <nav id="primary-navigation" class="site-nav" data-site-nav aria-label="Main navigation">
          <ul class="nav-list">
              <li><a class="nav-link" href="../index.html">Home</a></li>
              <li><a class="nav-link" href="../about.html">About</a></li>
              <li><a class="nav-link" href="../projects/index.html" aria-current="page">Projects</a></li>
              <li><a class="nav-link" href="../blog/index.html">Blog</a></li>
              <li><a class="nav-link" href="../lab.html">Lab</a></li>
              <li><a class="nav-link" href="../contact.html">Contact</a></li>
          </ul>
        </nav>
      </div>
    </div>
  </header>

  <main id="main-content">
    <div class="container">
      <nav class="breadcrumb" aria-label="Breadcrumb">
        <a href="index.html">← Back to Projects</a>
      </nav>

      <article>
        <header class="workshop-hero">
          <div class="card-meta">
            <span class="badge badge-active">Status: In Progress</span>
            <span>Project 04 // 4WD Robotics, Control Logic &amp; 2.4 GHz Telemetry</span>
          </div>
          <h1><span class="gradient-title">RC and Autonomous 4WD Vehicle</span></h1>
          <p class="hero-lead">
            A standalone 4WD robotic vehicle project exploring manual 2.4 GHz wireless control (paired with my <a href="multi-functional-controller.html">Multi-Functional RC Controller</a>) and autonomous obstacle-avoidance behavior.
          </p>
          <div class="button-row">
            <a class="btn btn-youtube" href="#poc-video">🎬 Watch PoC Video Slot</a>
            <a class="btn btn-primary" href="multi-functional-controller.html">🎛️ Companion RC Controller</a>
            <a class="btn btn-secondary" href="index.html">All Projects</a>
          </div>
        </header>

        <!-- YouTube Proof-of-Concept Video Placeholder -->
        <section id="poc-video" class="poc-video-section" aria-labelledby="rc-video-heading">
          <div class="poc-video-card">
            <span class="section-label">🎬 Proof of Concept // YouTube Video Showcase</span>
            <h2 id="rc-video-heading">YouTube Proof-of-Concept Demonstration</h2>
            <div class="poc-video-screen" role="region" aria-label="YouTube Proof of Concept Video Placeholder">
              <div class="poc-play-badge" aria-hidden="true">
                <div class="poc-play-triangle"></div>
              </div>
              <span class="poc-status-pill">🎥 YouTube PoC Video — Recording / Coming Soon</span>
              <div class="poc-video-title">4WD RC &amp; Autonomous Vehicle — Wireless Drive &amp; Control Loop Test</div>
              <p class="poc-video-desc">
                Upcoming YouTube demonstration covering 2.4 GHz remote drive response from the Multi-Functional Controller, motor driver PWM tuning, and autonomous mode switching.
              </p>
            </div>
          </div>
        </section>

        <section class="section-block reading-width" aria-labelledby="p2-overview">
          <span class="section-label">01 // Overview</span>
          <h2 id="p2-overview">Why I Am Building This</h2>
          <p>
            A physical vehicle sits right at the intersection of the subjects I care about most: power electronics, closed-loop control logic, and real-time embedded decision-making. If a firmware routine makes a bad timing assumption or power transients aren't filtered properly, you see it immediately in how the vehicle behaves on the floor.
          </p>
          <p>
            This project is maintained strictly separate from the transmitter console so that the vehicle node and the <a href="multi-functional-controller.html">Multi-Functional RC Controller</a> communicate over a clean, modular 2.4 GHz packet protocol.
          </p>
        </section>

        <!-- 2.4 GHz Control Packet Code Snippet -->
        <section class="section-block" aria-labelledby="p2-protocol">
          <span class="section-label">02 // 2.4 GHz Wireless Protocol Structure</span>
          <h2 id="p2-protocol">Packed C99 Telemetry &amp; Drive Structs</h2>
          <p class="reading-width">
            To guarantee deterministic serialization over the 32-byte nRF24L01+ payload buffer between the controller and the vehicle, the link layer uses packed fixed-width C99 structs:
          </p>

          <div class="code-window">
            <div class="code-window-header">
              <span class="code-window-title">
                <span class="code-dots"><span class="code-dot red"></span><span class="code-dot amber"></span><span class="code-dot green"></span></span>
                c99 — Packed 2.4 GHz Control &amp; Telemetry Packet Definition
              </span>
              <button type="button" class="copy-code-btn" data-copy-code>📋 Copy Code</button>
            </div>
            <pre><code>#include &lt;stdint.h&gt;
#include &lt;assert.h&gt;

typedef struct __attribute__((packed)) {
    uint8_t  magic;        // 0xA5 frame sync byte
    uint8_t  seq;          // Rolling packet sequence number
    int16_t  throttle_pwm; // -1000 to +1000 normalized longitudinal drive
    int16_t  steering_pwm; // -1000 to +1000 differential yaw command
    uint8_t  mode_flags;   // Bit 0: Autonomous Mode, Bit 1: Emergency Stop
    uint8_t  crc8;         // Checksum for packet integrity
} RcControlPacket_t;

_Static_assert(sizeof(RcControlPacket_t) == 8, "RcControlPacket_t must be 8 bytes");</code></pre>
          </div>
        </section>

        <section class="section-block reading-width" aria-labelledby="p2-confirmed">
          <span class="section-label">03 // Confirmed Information</span>
          <h2 id="p2-confirmed">Current Documentation Status</h2>
          <table class="spec-table">
            <thead>
              <tr>
                <th scope="col">Attribute</th>
                <th scope="col">Confirmed Status</th>
              </tr>
            </thead>
            <tbody>
              <tr>
                <td><strong>Project Name</strong></td>
                <td>RC and Autonomous 4WD Vehicle</td>
              </tr>
              <tr>
                <td><strong>Status</strong></td>
                <td>In progress (Hardware &amp; control loop integration)</td>
              </tr>
              <tr>
                <td><strong>Companion Transmitter</strong></td>
                <td><a href="multi-functional-controller.html">ESP32-S3 Multi-Functional RC Controller (MFC)</a></td>
              </tr>
              <tr>
                <td><strong>Core Focus Areas</strong></td>
                <td>Manual 2.4 GHz RC drive, autonomous behavior exploration, motor drive electronics, and embedded control software</td>
              </tr>
            </tbody>
          </table>
        </section>
      </article>

    </div>
  </main>

  <footer class="site-footer">
    <div class="container footer-inner">
      <div>
        <strong>Ertunç Özbay</strong> — Electrical &amp; Electronics Engineering Student • <a href="mailto:ertunc.ozbay@outlook.com">ertunc.ozbay@outlook.com</a>
      </div>
      <ul class="footer-links" aria-label="Footer links">
        <li><a href="../projects/index.html">Projects</a></li>
        <li><a href="../blog/index.html">Blog</a></li>
        <li><a href="../lab.html">Lab</a></li>
        <li><a href="../contact.html">Contact</a></li>
        <li><a href="http://34.57.151.250:3000/ertunc-ozbay" rel="noopener noreferrer">GitHub</a></li>
        <li><a href="https://www.linkedin.com/in/ertunc-ozbay" rel="noopener noreferrer">LinkedIn</a></li>
      </ul>
    </div>
  </footer>

  <script src="../assets/js/main.js?v=2"></script>
</body>
</html>