Remote_Control_Go_Cart.ino

#include <AccelStepper.h>

const int gasPulse = 1, gasDir = 2;
const int brakePulse = 3, brakeDir = 4;
const int steerPulse = 5, steerDir = 6;

AccelStepper gasStepper(AccelStepper::DRIVER, gasPulse, gasDir);
AccelStepper brakeStepper(AccelStepper::DRIVER, brakePulse, brakeDir);
AccelStepper steerStepper(AccelStepper::DRIVER, steerPulse, steerDir);

const float pedalMaxSpeed = 300, pedalAcceleration = 100;
const float steerMaxSpeed = 500, steerAcceleration = 200;

const long pedalMinPos = 0, pedalMaxPos = 100;
const long steerMinPos = -100, steerMaxPos = 100;

long minInput = 0.0, maxInput = 1.0;
long rawGasInput = 0, rawBrakeInput = 0, rawSteerInput = 0;

void setup() {
  gasStepper.setMaxSpeed(pedalMaxSpeed);
  brakeStepper.setMaxSpeed(pedalMaxSpeed);

  gasStepper.setAcceleration(pedalAcceleration);
  brakeStepper.setAcceleration(pedalAcceleration);

  steerStepper.setMaxSpeed(steerMaxSpeed);
  steerStepper.setAcceleration(pedalAcceleration);
}

void loop() {
  // insert processing to get inputs

  gasStepper.moveTo(scaleStepperInputs(rawGasInput, pedalMinPos, pedalMaxPos));
  brakeStepper.moveTo(scaleStepperInputs(rawBrakeInput, pedalMinPos, pedalMaxPos));

  steerStepper.moveTo(scaleStepperInputs(rawSteerInput, steerMinPos, steerMaxPos));
}

long scaleStepperInputs(long stepperInput, long stepperMinPos, long stepperMaxPos) {
  return constrain(map(stepperInput, minInput, maxInput, stepperMinPos, stepperMaxPos), stepperMinPos, stepperMaxPos);
}