text: #ifndef steering_HPP
  #define steering_HPP
  #include <stdint.h>
  
  struct SteeringCurrentSettings {
    // ports
    uint8_t isActivePort;
  
    enum class SteeringType : uint8_t {
      none = 0,
      twoChannelLeftRight = 1,
      oneChannelCenterNeutral = 2
    } type = SteeringType::none;
  
    // settings for calculation the PWM
    float Kp = 20;
    float Ki = 0.5;
    float Kd = 1;
    float BangOn = 15;
    float BangOff = 0.25;
    // for PWM
    uint8_t minPWM = 5;
    float minSpeed = 1.0;
    float maxSpeed = 20.0;
    bool testMinPwm = false;
    bool invertOutput = false;
  };
  extern SteeringCurrentSettings steeringSettings;
  
  void steeringTask( void* z );
  void steeringInit();
  
  #endif
  