The ActorBoard's task is the creation of the PWM signals to drive the actuators. It takes the values to set from the CAN bus and features the following features:
- Entering a safe mode, i.e. producing a PWM signal that makes the car stop if one of these conditions hold:
- A Sensor Board detects a malformed PWM input signal and throws an error message on the CAN bus
- No new values arrive from the CAN bus (lost connectivity)
- A hardware switch to select different CAN ids and by this different sources for the generated PWM signals.