Steering.md

+# 🏎️ **Steering System – Servo Motor Control**  
+
+![Steering System](INSERT_IMAGE_LOCATION_HERE)  
+
+## 📌 **Overview**  
+
+The **steering system** of our autonomous car is controlled using a **servo motor**. The servo adjusts the front wheels' angle by modifying its **PWM (Pulse Width Modulation) duty cycle**, allowing for **precise directional control**.  
+
+This page explains:  
+✔ How the servo motor is used for steering.  
+✔ The implementation using **FTM (FlexTimer Module)** for PWM control.  
+✔ Code snippets for setting steering angles.  
+
+---
+
+## ⚙️ **How the Servo Motor Works**  
+
+A **servo motor** operates by receiving a **PWM signal**, where:  
+- A **1ms pulse width (~5% duty cycle)** steers **left**.  
+- A **1.5ms pulse width (~7.5% duty cycle)** keeps the wheels **centered**.  
+- A **2ms pulse width (~10% duty cycle)** steers **right**.  
+
+### **PWM Signal Representation**  
+
+
+📌 _These signals are generated using **FTM3 Channel 6**._  
+
+![PWM Signal Explanation](INSERT_IMAGE_LOCATION_HERE)  
+
+---
+
+## 🔩 **Implementation – Controlling the Servo Motor**  
+
+The **FlexTimer Module (FTM)** is used to generate the required PWM signals. Below is an overview of how the servo control is implemented.  
+
+### **Pin Configuration**  
+| **Peripheral** | **Pin** | **Function** |
+|--------------|--------|------------|
+| **Servo Motor** | PTB12 | FTM3_CH6 (PWM) |
+
+---
+
+## 🛠️ **Code Implementation**  
+
+### **1️⃣ Setting the Servo Position**  
+The function `setServoPosition()` updates the **PWM duty cycle** to control the steering.  
+
+```cpp
+// Function to set the servo position based on the desired duty cycle
+void setServoPosition(float duty_cycle) {
+    // Update PWM duty cycle for SERVO0 (FTM3 CH6)
+    FTM_UpdatePwmDutycycle(FTM3_PERIPHERAL, FTM3_FTM_SERVO_CHANNEL, kFTM_EdgeAlignedPwm, duty_cycle);
+    FTM_SetSoftwareTrigger(FTM3_PERIPHERAL, true); // Apply the new duty cycle
+}
+// Function to turn the car left
+void turnLeft() {
+    float duty_cycle = 5.0; // 1ms pulse width -> 5% duty cycle
+    setServoPosition(duty_cycle);
+}
+
+// Function to turn the car right
+void turnRight() {
+    float duty_cycle = 10.0; // 2ms pulse width -> 10% duty cycle
+    setServoPosition(duty_cycle);
+}
+// Function to center the servo (straight position)
+void centerServo() {
+    float duty_cycle = 7.5; // 1.5ms pulse width -> 7.5% duty cycle
+    setServoPosition(duty_cycle);
+}