robocars/robocar-arduino
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feat: asymetric throttle

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Cyrille Nofficial committed 2022-06-13 18:35:27 +02:00
1 parent ed1f210a83
commit 973ebb9df9
2 files changed
+16 -3
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pkg/arduino/arduino_test.go
+6 -2
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@@ -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)