Steering.md

-# 🏎️ **Steering System – Servo Motor Control**  
+# :race_car: **Steering System – Servo Motor Control**
 
-![Steering System](INSERT_IMAGE_LOCATION_HERE)  
+![Steering System](https://mygit.th-deg.de/ab11885/autonomous-line-following-car-with-camera-based-navigation/-/raw/main/Images/servo_motor.jpg)
 
-## 📌 **Overview**  
+## :pushpin: **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.  
+This page explains:\
+:heavy_check_mark: How the servo motor is used for steering.\
+:heavy_check_mark: The implementation using **FTM (FlexTimer Module)** for PWM control.\
+:heavy_check_mark: Code snippets for setting steering angles.
 
 ---
 
-## ⚙️ **How the Servo Motor Works**  
+## :gear: **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**  
 
+- 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**.
 
-📌 _These signals are generated using **FTM3 Channel 6**._  
+### **PWM Signal Representation**
 
-![PWM Signal Explanation](INSERT_IMAGE_LOCATION_HERE)  
+:pushpin: _These signals are generated using **FTM3 Channel 6**._
 
----
+                              Duty Cycle = ( Pulse Width / Period Length ) x 100
+![PWM Signal Explanation](https://mygit.th-deg.de/ab11885/autonomous-line-following-car-with-camera-based-navigation/-/raw/main/Images/Screenshot_2025-03-02_125710.png)
 
-## 🔩 **Implementation – Controlling the Servo Motor**  
+## :nut_and_bolt: **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**  
+## :tools: **Code Implementation**
+
+### **:one: Setting the Servo Position**
 
-### **1️⃣ Setting the Servo Position**  
 The function `setServoPosition()` updates the **PWM duty cycle** to control the steering.
 
 ```cpp
@@ -68,3 +69,4 @@ void centerServo() {
     float duty_cycle = 7.5; // 1.5ms pulse width -> 7.5% duty cycle
     setServoPosition(duty_cycle);
 }
+```
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