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This is a great idea. I had also thought of doing something like this but for the speed instead of the steering. Also for controlling both sides of the steering coils, why don't you duplicate u1d but in an inverting configuration. Then put an RC filter on the steering coils of the car. This might give you a crude analog voltage. But I'm not sure how you can drive only one coil at a time. Also I was wondering what frequency is the PWM running at?
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