robocars/robocar-arduino
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feat: allow to control car with 2nd radio-command

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This commit is contained in:
Cyrille Nofficial
2022-08-10 16:49:58 +02:00
parent e64c7ff559
commit a07d042269
3 changed files with 267 additions and 129 deletions
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50
cmd/rc-arduino/rc-arduino.go
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@ -38,7 +38,7 @@ func main() {
cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
var steeringLeftPWM, steeringRightPWM, steeringCenterPWM int
var throttleMinPWM, throttleMaxPWM, throttleZeroPWM int
var secondarySteeringLeftPWM, secondarySteeringRightPWM, secondarySteeringCenterPWM int
if err := cli.SetIntDefaultValueFromEnv(&steeringLeftPWM, "STEERING_LEFT_PWM", SteeringLeftPWM); err != nil {
zap.S().Warnf("unable to init steeringLeftPWM arg: %v", err)
}
@ -46,7 +46,19 @@ func main() {
zap.S().Warnf("unable to init steeringRightPWM arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&steeringCenterPWM, "STEERING_CENTER_PWM", SteeringCenterPWM); err != nil {
zap.S().Warnf("unable to init steeringRightPWM arg: %v", err)
zap.S().Warnf("unable to init steeringCenterPWM arg: %v", err)
}
var throttleMinPWM, throttleMaxPWM, throttleZeroPWM int
var secondaryThrottleMinPWM, secondaryThrottleMaxPWM, secondaryThrottleCenterPWM int
if err := cli.SetIntDefaultValueFromEnv(&throttleMinPWM, "THROTTLE_MIN_PWM", arduino.DefaultPwmThrottle.Min); err != nil {
zap.S().Warnf("unable to init throttleMinPWM arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&throttleMaxPWM, "THROTTLE_MAX_PWM", arduino.DefaultPwmThrottle.Max); err != nil {
zap.S().Warnf("unable to init throttleMaxPWM arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&throttleZeroPWM, "THROTTLE_CENTER_PWM", arduino.DefaultPwmThrottle.Middle); err != nil {
zap.S().Warnf("unable to init throttleZeroPWM arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&throttleMinPWM, "THROTTLE_MIN_PWM", ThrottleMinPWM); err != nil {
zap.S().Warnf("unable to init steeringLeftPWM arg: %v", err)
@ -65,12 +77,20 @@ func main() {
flag.StringVar(&switchRecordTopic, "mqtt-topic-switch-record", os.Getenv("MQTT_TOPIC_SWITCH_RECORD"), "Mqtt topic where to publish switch record state, use MQTT_TOPIC_SWITCH_RECORD if args not set")
flag.StringVar(&device, "device", "/dev/serial0", "Serial device")
flag.IntVar(&baud, "baud", 115200, "Serial baud")
flag.IntVar(&steeringLeftPWM, "steering-left-pwm", steeringLeftPWM, "Right left value for steering PWM, STEERING_LEFT_PWM env if args not set")
flag.IntVar(&steeringRightPWM, "steering-right-pwm", steeringRightPWM, "Right right value for steering PWM, STEERING_RIGHT_PWM env if args not set")
flag.IntVar(&steeringCenterPWM, "steering-center-pwm", steeringCenterPWM, "Center value for steering PWM, STEERING_CENTER_PWM env if args not set")
flag.IntVar(&throttleMinPWM, "throttle-min-pwm", throttleMinPWM, "Min value for throttle PWM, THROTTLE_MIN_PWM env if args not set")
flag.IntVar(&steeringRightPWM, "throttle-max-pwm", throttleMaxPWM, "Throttle max value for throttle PWM, THROTTLE_MAX_PWM env if args not set")
flag.IntVar(&steeringCenterPWM, "throttle-zero-pwm", throttleZeroPWM, "Zero value for throttle PWM, THROTTLE_ZERO_PWM env if args not set")
flag.IntVar(&steeringLeftPWM, "steering-left-pwm", steeringLeftPWM, "maxPwm left value for steering PWM, STEERING_LEFT_PWM env if args not set")
flag.IntVar(&steeringRightPWM, "steering-right-pwm", steeringRightPWM, "maxPwm right value for steering PWM, STEERING_RIGHT_PWM env if args not set")
flag.IntVar(&steeringCenterPWM, "steering-center-pwm", steeringCenterPWM, "middlePwm value for steering PWM, STEERING_CENTER_PWM env if args not set")
flag.IntVar(&secondarySteeringLeftPWM, "steering-secondary-left-pwm", steeringLeftPWM, "maxPwm left value for secondary radio controller steering PWM, STEERING_LEFT_PWM env if args not set")
flag.IntVar(&secondarySteeringRightPWM, "steering-secondary-right-pwm", steeringRightPWM, "maxPwm right value for secondary radio controller steering PWM, STEERING_RIGHT_PWM env if args not set")
flag.IntVar(&secondarySteeringCenterPWM, "steering-secondary-center-pwm", steeringCenterPWM, "middlePwm value for secondary radio controller steering PWM, STEERING_CENTER_PWM env if args not set")
flag.IntVar(&throttleMinPWM, "throttle-min-pwm", throttleMinPWM, "maxPwm min value for throttle PWM, THROTTLE_MIN_PWM env if args not set")
flag.IntVar(&throttleMaxPWM, "throttle-max-pwm", throttleMaxPWM, "maxPwm max value for throttle PWM, THROTTLE_MAX_PWM env if args not set")
flag.IntVar(&throttleZeroPWM, "throttle-center-pwm", throttleZeroPWM, "middlePwm value for throttle PWM, THROTTLE_CENTER_PWM env if args not set")
flag.IntVar(&secondaryThrottleMinPWM, "throttle-secondary-min-pwm", throttleMinPWM, "maxPwm min value for secondary radio controller throttle PWM, THROTTLE_MIN_PWM env if args not set")
flag.IntVar(&secondaryThrottleMaxPWM, "throttle-secondary-max-pwm", throttleMaxPWM, "maxPwm max value for secondary radio controller throttle PWM, THROTTLE_MAX_PWM env if args not set")
flag.IntVar(&secondaryThrottleCenterPWM, "throttle-secondary-center-pwm", throttleZeroPWM, "middlePwm value for secondary radio controller throttle PWM, THROTTLE_CENTER_PWM env if args not set")
logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
flag.Parse()
@ -99,9 +119,17 @@ func main() {
}
defer client.Disconnect(10)
sc := arduino.NewAsymetricPWMSteeringConfig(steeringLeftPWM, steeringRightPWM, steeringCenterPWM)
tc := arduino.PWMThrottleConfig{Min: throttleMinPWM, Max: throttleMaxPWM, Zero: throttleZeroPWM}
a := arduino.NewPart(client, device, baud, throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic, pubFrequency, sc, tc)
sc := arduino.NewAsymetricPWMConfig(steeringLeftPWM, steeringRightPWM, steeringCenterPWM)
secondarySc := arduino.NewAsymetricPWMConfig(secondarySteeringLeftPWM, secondarySteeringRightPWM, secondarySteeringCenterPWM)
tc := arduino.NewAsymetricPWMConfig(throttleMinPWM, throttleMaxPWM, throttleZeroPWM)
secondaryTc := arduino.NewAsymetricPWMConfig(secondaryThrottleMinPWM, secondaryThrottleMaxPWM, secondaryThrottleMaxPWM)
a := arduino.NewPart(client, device, baud, throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic,
pubFrequency,
arduino.WithThrottleConfig(tc),
arduino.WithSteeringConfig(sc),
arduino.WithSecondaryRC(secondaryTc, secondarySc),
)
cli.HandleExit(a)