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        <header class="workshop-hero">
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            <span class="badge badge-active">Status: In Progress</span>
            <span>Project 4WD Robotics, Control Logic &amp; 2.4 GHz Telemetry</span>
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          <h1><span class="gradient-title">RC and Autonomous 4WD Vehicle</span></h1>
          <p class="hero-lead">
            A standalone 4WD robotic vehicle project exploring manual 2.4 GHz wireless control (paired with my <a href="multi-functional-controller.html">Multi-Functional RC Controller</a>) and autonomous obstacle-avoidance behavior.
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            <a class="btn btn-youtube" href="#poc-video"> Watch PoC Video Slot</a>
            <a class="btn btn-primary" href="multi-functional-controller.html"> Companion RC Controller</a>
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            <span class="section-label"> Proof of Concept // YouTube Video Showcase</span>
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              <span class="poc-status-pill"> YouTube PoC Video - Recording / Coming Soon</span>
              <div class="poc-video-title">4WD RC &amp; Autonomous Vehicle - Wireless Drive &amp; Control Loop Test</div>
              <p class="poc-video-desc">
                Upcoming YouTube demonstration covering 2.4 GHz remote drive response from the Multi-Functional Controller, motor driver PWM tuning, and autonomous mode switching.
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        <section class="section-block reading-width" aria-labelledby="p2-overview">
          <span class="section-label">Overview</span>
          <h2 id="p2-overview">Why I Am Building This</h2>
          <p>
            A physical vehicle sits right at the intersection of the subjects I care about most: power electronics, closed-loop control logic, and real-time embedded decision-making. If a firmware routine makes a bad timing assumption or power transients aren't filtered properly, you see it immediately in how the vehicle behaves on the floor.
          </p>
          <p>
            This project is maintained strictly separate from the transmitter console so that the vehicle node and the <a href="multi-functional-controller.html">Multi-Functional RC Controller</a> communicate over a clean, modular 2.4 GHz packet protocol.
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        <!-- 2.4 GHz Control Packet Code Snippet -->
        <section class="section-block" aria-labelledby="p2-protocol">
          <span class="section-label">2.4 GHz Wireless Protocol Structure</span>
          <h2 id="p2-protocol">Packed C99 Telemetry &amp; Drive Structs</h2>
          <p class="reading-width">
            To guarantee deterministic serialization over the 32-byte nRF24L01+ payload buffer between the controller and the vehicle, the link layer uses packed fixed-width C99 structs:
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                c99 - Packed 2.4 GHz Control &amp; Telemetry Packet Definition
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            <pre><code>#include &lt;stdint.h&gt;
#include &lt;assert.h&gt;

typedef struct __attribute__((packed)) {
    uint8_t  magic;        // 0xA5 frame sync byte
    uint8_t  seq;          // Rolling packet sequence number
    int16_t  throttle_pwm; // -1000 to +1000 normalized longitudinal drive
    int16_t  steering_pwm; // -1000 to +1000 differential yaw command
    uint8_t  mode_flags;   // Bit 0: Autonomous Mode, Bit 1: Emergency Stop
    uint8_t  crc8;         // Checksum for packet integrity
} RcControlPacket_t;

_Static_assert(sizeof(RcControlPacket_t) == 8, "RcControlPacket_t must be 8 bytes");</code></pre>
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        <section class="section-block reading-width" aria-labelledby="p2-confirmed">
          <span class="section-label">Confirmed Information</span>
          <h2 id="p2-confirmed">Current Documentation Status</h2>
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                <th scope="col">Attribute</th>
                <th scope="col">Confirmed Status</th>
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            </thead>
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              <tr>
                <td><strong>Project Name</strong></td>
                <td>RC and Autonomous 4WD Vehicle</td>
              </tr>
              <tr>
                <td><strong>Status</strong></td>
                <td>In progress (Hardware &amp; control loop integration)</td>
              </tr>
              <tr>
                <td><strong>Companion Transmitter</strong></td>
                <td><a href="multi-functional-controller.html">ESP32-S3 Multi-Functional RC Controller (MFC)</a></td>
              </tr>
              <tr>
                <td><strong>Core Focus Areas</strong></td>
                <td>Manual 2.4 GHz RC drive, autonomous behavior exploration, motor drive electronics, and embedded control software</td>
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            </tbody>
          </table>
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