rt-actuator (Jetracer-compatible)

C++ Actuator HAL that mirrors the Python jetracer.NvidiaRacecar behavior.

Build

cmake -S . -B build
cmake --build build

Hardware test (force throttle)

sudo ./build/rt_actuator --i2c /dev/i2c-1 --i2c1 0x40 --i2c2 0x60 --force-throttle 0.2

If motor PWM setup fails, try a lower frequency:

sudo ./build/rt_actuator --i2c /dev/i2c-1 --i2c1 0x40 --i2c2 0x60 --force-throttle 0.2 --motor-pwm-hz 50

Runtime (rt_control_shm)

sudo ./build/rt_actuator --i2c /dev/i2c-1 --i2c1 0x40 --i2c2 0x60

Notes

• Steering uses I2C address 0x40, continuous servo on channel 0.
• Throttle uses I2C address 0x60, PCA9685 channels 0,1,2,3,4,5,6,7 (matches Python).
• Use --steering-pwm-hz and --motor-pwm-hz to override PCA9685 frequencies.
• Reads final_throttle + final_steering from rt_control_shm.