From 973ebb9df9e10ec5e0ad32a581f8355549ab6e93 Mon Sep 17 00:00:00 2001
From: Cyrille Nofficial <cyrille.nofficial@renault.com>
Date: Mon, 13 Jun 2022 18:35:27 +0200
Subject: [PATCH] feat: asymetric throttle

---
 pkg/arduino/arduino.go      | 11 ++++++++++-
 pkg/arduino/arduino_test.go |  8 ++++++--
 2 files changed, 16 insertions(+), 3 deletions(-)

diff --git a/pkg/arduino/arduino.go b/pkg/arduino/arduino.go
index a9a72ea..cba5ccc 100644
--- a/pkg/arduino/arduino.go
+++ b/pkg/arduino/arduino.go
@@ -170,7 +170,16 @@ func (a *Part) processChannel2(v string) {
 	} else if value > a.pwmThrottleConfig.Max {
 		value = a.pwmThrottleConfig.Max
 	}
-	a.throttle = ((float32(value)-MinPwmThrottle)/(MaxPwmThrottle-MinPwmThrottle))*2.0 - 1.0
+
+	throttle := 0.
+	if value > a.pwmThrottleConfig.Zero {
+		throttle = (float64(value) - float64(a.pwmThrottleConfig.Zero)) / float64(a.pwmThrottleConfig.Max-a.pwmThrottleConfig.Zero)
+	}
+	if value < a.pwmThrottleConfig.Zero {
+		throttle = -1. * (float64(a.pwmThrottleConfig.Zero) - float64(value)) / (float64(a.pwmThrottleConfig.Zero - a.pwmThrottleConfig.Min))
+	}
+
+	a.throttle = float32(throttle)
 }
 
 func (a *Part) processChannel3(v string) {
diff --git a/pkg/arduino/arduino_test.go b/pkg/arduino/arduino_test.go
index 24fb546..01a94c7 100644
--- a/pkg/arduino/arduino_test.go
+++ b/pkg/arduino/arduino_test.go
@@ -148,7 +148,7 @@ func TestArduinoPart_Update(t *testing.T) {
 		{"Throttle: stop",
 			fmt.Sprintf("12430,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 1450, channel3, channel4, channel5, channel6, distanceCm),
 			defaultPwmThrottleConfig,
-			-0.03, -1., events.DriveMode_USER, false},
+			0.0, -1., events.DriveMode_USER, false},
 		{"Throttle: up",
 			fmt.Sprintf("12435,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 1948, channel3, channel4, channel5, channel6, distanceCm),
 			defaultPwmThrottleConfig,
@@ -157,6 +157,10 @@ func TestArduinoPart_Update(t *testing.T) {
 			fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 2998, channel3, channel4, channel5, channel6, distanceCm),
 			defaultPwmThrottleConfig,
 			1., -1., events.DriveMode_USER, false},
+		{"Throttle: zero not middle",
+			fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,50,%d\n", channel1, 1600, channel3, channel4, channel5, channel6, distanceCm),
+			PWMThrottleConfig{1000, 1700, 1500},
+			0.5, -1., events.DriveMode_USER, false},
 	}
 
 	for _, c := range cases {
@@ -169,7 +173,7 @@ func TestArduinoPart_Update(t *testing.T) {
 		if err != nil {
 			t.Error("unable to flush content")
 		}
-		
+
 		a.pwmThrottleConfig = c.throttlePwmConfig
 
 		time.Sleep(10 * time.Millisecond)