feat: allow to control car with 2nd radio-command

cmd/rc-arduino/rc-arduino.go

@@ -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(&steeringLeftPWM, "steering-left-pwm", steeringLeftPWM, "maxPwm left value for steering PWM, STEERING_LEFT_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(&steeringRightPWM, "steering-right-pwm", steeringRightPWM, "maxPwm right value for steering PWM, STEERING_RIGHT_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(&steeringCenterPWM, "steering-center-pwm", steeringCenterPWM, "middlePwm value for steering PWM, STEERING_CENTER_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(&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(&steeringCenterPWM, "throttle-zero-pwm", throttleZeroPWM, "Zero value for throttle PWM, THROTTLE_ZERO_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)
+	sc := arduino.NewAsymetricPWMConfig(steeringLeftPWM, steeringRightPWM, steeringCenterPWM)
-	tc := arduino.PWMThrottleConfig{Min: throttleMinPWM, Max: throttleMaxPWM, Zero: throttleZeroPWM}
+	secondarySc := arduino.NewAsymetricPWMConfig(secondarySteeringLeftPWM, secondarySteeringRightPWM, secondarySteeringCenterPWM)
-	a := arduino.NewPart(client, device, baud, throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic, pubFrequency, sc, tc)
+	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)
 

pkg/arduino/arduino.go

@@ -22,6 +22,11 @@ const (
 
 var (
 	serialLineRegex    = regexp.MustCompile(`(?P<timestamp>\d+),(?P<channel_1>\d+),(?P<channel_2>\d+),(?P<channel_3>\d+),(?P<channel_4>\d+),(?P<channel_5>\d+),(?P<channel_6>\d+),(?P<channel_7>\d+),(?P<channel_8>\d+),(?P<frequency>\d+)`)
+	DefaultPwmThrottle = PWMConfig{
+		Min:    MinPwmThrottle,
+		Max:    MaxPwmThrottle,
+		Middle: MinPwmThrottle + (MaxPwmThrottle-MinPwmThrottle)/2,
+	}
 )
 
 type Part struct {
@@ -30,50 +35,68 @@ type Part struct {
 	pubFrequency                                                    float64
 	serial                                                          io.Reader
 	mutex                                                           sync.Mutex
-	steering                                                        float32
+	steering, secondarySteering                                     float32
-	throttle                                                        float32
+	throttle, secondaryThrottle                                     float32
 	ctrlRecord                                                      bool
 	driveMode                                                       events.DriveMode
 	cancel                                                          chan interface{}
 
-	pwmSteeringConfig PWMSteeringConfig
+	useSecondaryRc             bool
-	pwmThrottleConfig PWMThrottleConfig
+	pwmSteeringConfig          *PWMConfig
+	pwmSecondarySteeringConfig *PWMConfig
+	pwmThrottleConfig          *PWMConfig
+	pwmSecondaryThrottleConfig *PWMConfig
 }
 
-type PWMThrottleConfig struct {
+type PWMConfig struct {
 	Min    int
 	Max    int
-	Zero int
+	Middle int
 }
 
-type PWMSteeringConfig struct {
+func NewPWMConfig(min, max int) *PWMConfig {
-	Left   int
+	return &PWMConfig{
-	Right  int
+		Min:    min,
-	Center int
+		Max:    max,
-}
+		Middle: min + (max-min)/2,
-
-func NewPWMSteeringConfig(min, max int) PWMSteeringConfig {
-	return PWMSteeringConfig{
-		Left:   min,
-		Right:  max,
-		Center: min + (max-min)/2,
 	}
 }
 
-func NewAsymetricPWMSteeringConfig(min, max, middle int) PWMSteeringConfig {
+func NewAsymetricPWMConfig(min, max, middle int) *PWMConfig {
-	c := NewPWMSteeringConfig(min, max)
+	c := NewPWMConfig(min, max)
-	c.Center = middle
+	c.Middle = middle
 	return c
 }
 
+type Option func(p *Part)
+
+func WithThrottleConfig(throttleConfig *PWMConfig) Option {
+	return func(p *Part) {
+		p.pwmThrottleConfig = throttleConfig
+	}
+}
+
+func WithSteeringConfig(steeringConfig *PWMConfig) Option {
+	return func(p *Part) {
+		p.pwmSteeringConfig = steeringConfig
+	}
+}
+
+func WithSecondaryRC(throttleConfig, steeringConfig *PWMConfig) Option {
+	return func(p *Part) {
+		p.pwmSecondaryThrottleConfig = throttleConfig
+		p.pwmSecondarySteeringConfig = steeringConfig
+	}
+}
+
 func NewPart(client mqtt.Client, name string, baud int, throttleTopic, steeringTopic, driveModeTopic,
-	switchRecordTopic string, pubFrequency float64, steeringConfig PWMSteeringConfig, throttleConfig PWMThrottleConfig) *Part {
+	switchRecordTopic string, pubFrequency float64, options ...Option) *Part {
 	c := &serial.Config{Name: name, Baud: baud}
 	s, err := serial.OpenPort(c)
 	if err != nil {
 		zap.S().Panicw("unable to open serial port: %v", err)
 	}
-	return &Part{
+	p := &Part{
 		client:            client,
 		serial:            s,
 		throttleTopic:     throttleTopic,
@@ -84,9 +107,16 @@ func NewPart(client mqtt.Client, name string, baud int, throttleTopic, steeringT
 		driveMode:         events.DriveMode_INVALID,
 		cancel:            make(chan interface{}),
 
-		pwmSteeringConfig: steeringConfig,
+		pwmSteeringConfig:          &DefaultPwmThrottle,
-		pwmThrottleConfig: throttleConfig,
+		pwmSecondarySteeringConfig: &DefaultPwmThrottle,
+		pwmThrottleConfig:          &DefaultPwmThrottle,
+		pwmSecondaryThrottleConfig: &DefaultPwmThrottle,
 	}
+
+	for _, o := range options {
+		o(p)
+	}
+	return p
 }
 
 func (a *Part) Start() error {
@@ -121,6 +151,8 @@ func (a *Part) updateValues(values []string) {
 	a.processChannel4(values[4])
 	a.processChannel5(values[5])
 	a.processChannel6(values[6])
+	a.processChannel7(values[7])
+	a.processChannel8(values[8])
 }
 
 func (a *Part) Stop() {
@@ -140,23 +172,23 @@ func (a *Part) processChannel1(v string) {
 	if err != nil {
 		zap.S().Errorf("invalid steering value for channel1, should be an int: %v", err)
 	}
-	a.steering = convertPwmSteeringToPercent(value, a.pwmSteeringConfig.Left, a.pwmSteeringConfig.Right, a.pwmSteeringConfig.Center)
+	a.steering = convertPwmSteeringToPercent(value, a.pwmSteeringConfig)
 }
 
-func convertPwmSteeringToPercent(value int, minPwm int, maxPwm int, middlePwm int) float32 {
+func convertPwmSteeringToPercent(value int, c *PWMConfig) float32 {
-	if value < minPwm {
+	if value < c.Min {
-		value = minPwm
+		value = c.Min
-	} else if value > maxPwm {
+	} else if value > c.Max {
-		value = maxPwm
+		value = c.Max
 	}
-	if value == middlePwm {
+	if value == c.Middle {
 		return 0.
 	}
-	if value < middlePwm {
+	if value < c.Middle {
-		return (float32(value) - float32(middlePwm)) / float32(middlePwm-minPwm)
+		return (float32(value) - float32(c.Middle)) / float32(c.Middle-c.Min)
 	}
 	//  middle < value < max
-	return (float32(value) - float32(middlePwm)) / float32(maxPwm-middlePwm)
+	return (float32(value) - float32(c.Middle)) / float32(c.Max-c.Middle)
 }
 
 func (a *Part) processChannel2(v string) {
@@ -172,11 +204,11 @@ func (a *Part) processChannel2(v string) {
 	}
 
 	throttle := 0.
-	if value > a.pwmThrottleConfig.Zero {
+	if value > a.pwmThrottleConfig.Middle {
-		throttle = (float64(value) - float64(a.pwmThrottleConfig.Zero)) / float64(a.pwmThrottleConfig.Max-a.pwmThrottleConfig.Zero)
+		throttle = (float64(value) - float64(a.pwmThrottleConfig.Middle)) / float64(a.pwmThrottleConfig.Max-a.pwmThrottleConfig.Middle)
 	}
-	if value < a.pwmThrottleConfig.Zero {
+	if value < a.pwmThrottleConfig.Middle {
-		throttle = -1. * (float64(a.pwmThrottleConfig.Zero) - float64(value)) / (float64(a.pwmThrottleConfig.Zero - a.pwmThrottleConfig.Min))
+		throttle = -1. * (float64(a.pwmThrottleConfig.Middle) - float64(value)) / (float64(a.pwmThrottleConfig.Middle - a.pwmThrottleConfig.Min))
 	}
 
 	a.throttle = float32(throttle)
@@ -184,6 +216,11 @@ func (a *Part) processChannel2(v string) {
 
 func (a *Part) processChannel3(v string) {
 	zap.L().Debug("process new value for channel3", zap.String("value", v))
+	value, err := strconv.Atoi(v)
+	if err != nil {
+		zap.S().Errorf("invalid throttle value for channel2, should be an int: %v", err)
+	}
+	a.useSecondaryRc = value > 1900
 }
 
 func (a *Part) processChannel4(v string) {
@@ -231,6 +268,59 @@ func (a *Part) processChannel6(v string) {
 	}
 }
 
+func (a *Part) processChannel7(v string) {
+	zap.L().Debug("process new value for secondary steering on channel7", zap.String("value", v))
+	value, err := strconv.Atoi(v)
+	if err != nil {
+		zap.S().Errorf("invalid steering value for channel7, should be an int: %v", err)
+	}
+	a.secondarySteering = convertPwmSteeringToPercent(value, a.pwmSecondarySteeringConfig)
+}
+
+func (a *Part) processChannel8(v string) {
+	zap.L().Debug("process new throttle value on channel8", zap.String("value", v))
+	value, err := strconv.Atoi(v)
+	if err != nil {
+		zap.S().Errorf("invalid throttle value for channel8, should be an int: %v", err)
+	}
+	if value < a.pwmSecondaryThrottleConfig.Min {
+		value = a.pwmSecondaryThrottleConfig.Min
+	} else if value > a.pwmSecondaryThrottleConfig.Max {
+		value = a.pwmSecondaryThrottleConfig.Max
+	}
+	a.secondaryThrottle = ((float32(value)-float32(a.pwmSecondaryThrottleConfig.Min))/float32(a.pwmSecondaryThrottleConfig.Max-a.pwmSecondaryThrottleConfig.Min))*2.0 - 1.0
+}
+
+func (a *Part) Throttle() float32 {
+	a.mutex.Lock()
+	defer a.mutex.Unlock()
+	if a.useSecondaryRc {
+		return a.secondaryThrottle
+	}
+	return a.throttle
+}
+
+func (a *Part) Steering() float32 {
+	a.mutex.Lock()
+	defer a.mutex.Unlock()
+	if a.useSecondaryRc {
+		return a.secondarySteering
+	}
+	return a.steering
+}
+
+func (a *Part) DriveMode() events.DriveMode {
+	a.mutex.Lock()
+	defer a.mutex.Unlock()
+	return a.driveMode
+}
+
+func (a *Part) SwitchRecord() bool {
+	a.mutex.Lock()
+	defer a.mutex.Unlock()
+	return a.ctrlRecord
+}
+
 func (a *Part) publishLoop() {
 	ticker := time.NewTicker(time.Second / time.Duration(int(a.pubFrequency)))
 
@@ -246,9 +336,6 @@ func (a *Part) publishLoop() {
 }
 
 func (a *Part) publishValues() {
-	a.mutex.Lock()
-	defer a.mutex.Unlock()
-
 	a.publishThrottle()
 	a.publishSteering()
 	a.publishDriveMode()
@@ -257,7 +344,7 @@ func (a *Part) publishValues() {
 
 func (a *Part) publishThrottle() {
 	throttle := events.ThrottleMessage{
-		Throttle:   a.throttle,
+		Throttle:   a.Throttle(),
 		Confidence: 1.0,
 	}
 	throttleMessage, err := proto.Marshal(&throttle)
@@ -271,7 +358,7 @@ func (a *Part) publishThrottle() {
 
 func (a *Part) publishSteering() {
 	steering := events.SteeringMessage{
-		Steering:   a.steering,
+		Steering:   a.Steering(),
 		Confidence: 1.0,
 	}
 	steeringMessage, err := proto.Marshal(&steering)
@@ -285,7 +372,7 @@ func (a *Part) publishSteering() {
 
 func (a *Part) publishDriveMode() {
 	dm := events.DriveModeMessage{
-		DriveMode: a.driveMode,
+		DriveMode: a.DriveMode(),
 	}
 	driveModeMessage, err := proto.Marshal(&dm)
 	if err != nil {
@@ -297,7 +384,7 @@ func (a *Part) publishDriveMode() {
 
 func (a *Part) publishSwitchRecord() {
 	sr := events.SwitchRecordMessage{
-		Enabled: !a.ctrlRecord,
+		Enabled: !a.SwitchRecord(),
 	}
 	switchRecordMessage, err := proto.Marshal(&sr)
 	if err != nil {

pkg/arduino/arduino_test.go

@@ -58,11 +58,9 @@ func TestArduinoPart_Update(t *testing.T) {
 		}
 	}()
 
-	defaultPwmThrottleConfig := PWMThrottleConfig{MinPwmThrottle, MaxPwmThrottle, MinPwmThrottle + (MaxPwmThrottle-MinPwmAngle)/int(2)}
+	defaultPwmThrottleConfig := NewPWMConfig(MinPwmThrottle, MaxPwmThrottle)
-	a := Part{client: nil, serial: conn, pubFrequency: 100,
+	a := Part{client: nil, serial: conn, pubFrequency: 100, pwmSteeringConfig: NewAsymetricPWMConfig(MinPwmAngle, MaxPwmAngle, MiddlePwmAngle),
-		pwmSteeringConfig: NewAsymetricPWMSteeringConfig(MinPwmAngle, MaxPwmAngle, MiddlePwmAngle),
+		pwmThrottleConfig: &DefaultPwmThrottle, pwmSecondaryThrottleConfig: &DefaultPwmThrottle, pwmSecondarySteeringConfig: NewPWMConfig(MinPwmThrottle, MaxPwmThrottle)}
-	}
-
 	go func() {
 		err := a.Start()
 		if err != nil {
@@ -71,10 +69,10 @@ func TestArduinoPart_Update(t *testing.T) {
 		}
 	}()
 
-	channel1, channel2, channel3, channel4, channel5, channel6, channel7, channel8 := 678, 910, 1112, 1678, 1910, 112, 0, 0
+	channel1, channel2, channel3, channel4, channel5, channel6, channel7, channel8 := 678, 910, 1012, 1678, 1910, 112, 0, 0
 	cases := []struct {
 		name, content                      string
-		throttlePwmConfig                  PWMThrottleConfig
+		throttlePwmConfig                  *PWMConfig
 		expectedThrottle, expectedSteering float32
 		expectedDriveMode                  events.DriveMode
 		expectedSwitchRecord               bool
@@ -138,7 +136,7 @@ func TestArduinoPart_Update(t *testing.T) {
 			defaultPwmThrottleConfig, -0.95, -1., events.DriveMode_USER, false},
 		{"Throttle: stop",
 			fmt.Sprintf("12430,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, 1450, channel3, channel4, channel5, channel6, channel7, channel8),
-			defaultPwmThrottleConfig, 0.0, -1., events.DriveMode_USER, false},
+			NewPWMConfig(1000, 1900), 0.0, -1., events.DriveMode_USER, false},
 		{"Throttle: up",
 			fmt.Sprintf("12435,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, 1948, channel3, channel4, channel5, channel6, channel7, channel8),
 			defaultPwmThrottleConfig, 0.99, -1., events.DriveMode_USER, false},
@@ -147,8 +145,11 @@ func TestArduinoPart_Update(t *testing.T) {
 			defaultPwmThrottleConfig, 1., -1., events.DriveMode_USER, false},
 		{"Throttle: zero not middle",
 			fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,%d,%d,50\n", channel1, 1600, channel3, channel4, channel5, channel6, channel7, channel8),
-			PWMThrottleConfig{1000, 1700, 1500},
+			&PWMConfig{1000, 1700, 1500},
 			0.5, -1., events.DriveMode_USER, false},
+		{"Use 2nd rc: use channels 7 and 8",
+			fmt.Sprintf("12440,%d,%d,%d,%d,%d,%d,%d,%d,50\n", 1000, 1000, 1950, channel4, channel5, channel6, 2000, 2008),
+			defaultPwmThrottleConfig, 1., 1, events.DriveMode_USER, false},
 	}
 
 	for _, c := range cases {
@@ -168,17 +169,17 @@ func TestArduinoPart_Update(t *testing.T) {
 			time.Sleep(10 * time.Millisecond)
 			a.mutex.Lock()
 			a.mutex.Unlock()
-			if fmt.Sprintf("%0.2f", a.throttle) != fmt.Sprintf("%0.2f", c.expectedThrottle) {
+			if fmt.Sprintf("%0.2f", a.Throttle()) != fmt.Sprintf("%0.2f", c.expectedThrottle) {
-				t.Errorf("%s: bad throttle value, expected: %0.2f, actual: %.2f", c.name, c.expectedThrottle, a.throttle)
+				t.Errorf("%s: bad throttle value, expected: %0.2f, actual: %.2f", c.name, c.expectedThrottle, a.Throttle())
 			}
-			if fmt.Sprintf("%0.2f", a.steering) != fmt.Sprintf("%0.2f", c.expectedSteering) {
+			if fmt.Sprintf("%0.2f", a.Steering()) != fmt.Sprintf("%0.2f", c.expectedSteering) {
-				t.Errorf("%s: bad steering value, expected: %0.2f, actual: %.2f", c.name, c.expectedSteering, a.steering)
+				t.Errorf("%s: bad steering value, expected: %0.2f, actual: %.2f", c.name, c.expectedSteering, a.Steering())
 			}
-			if a.driveMode != c.expectedDriveMode {
+			if a.DriveMode() != c.expectedDriveMode {
-				t.Errorf("%s: bad drive mode, expected: %v, actual:%v", c.name, c.expectedDriveMode, a.driveMode)
+				t.Errorf("%s: bad drive mode, expected: %v, actual:%v", c.name, c.expectedDriveMode, a.DriveMode())
 			}
-			if a.ctrlRecord != c.expectedSwitchRecord {
+			if a.SwitchRecord() != c.expectedSwitchRecord {
-				t.Errorf("%s: bad switch record, expected: %v, actual:%v", c.name, c.expectedSwitchRecord, a.ctrlRecord)
+				t.Errorf("%s: bad switch record, expected: %v, actual:%v", c.name, c.expectedSwitchRecord, a.SwitchRecord())
 			}
 		})
 	}
@@ -312,9 +313,7 @@ func unmarshalMsg(t *testing.T, payload []byte, msg proto.Message) {
 func Test_convertPwmSteeringToPercent(t *testing.T) {
 	type args struct {
 		value          int
-		middle int
+		steeringConfig *PWMConfig
-		min    int
-		max    int
 	}
 	tests := []struct {
 		name string
@@ -325,9 +324,11 @@ func Test_convertPwmSteeringToPercent(t *testing.T) {
 			name: "middle",
 			args: args{
 				value: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
-				middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
+				steeringConfig: &PWMConfig{
-				min:    MinPwmAngle,
+					Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
-				max:    MaxPwmAngle,
+					Min:    MinPwmAngle,
+					Max:    MaxPwmAngle,
+				},
 			},
 			want: 0.,
 		},
@@ -335,9 +336,11 @@ func Test_convertPwmSteeringToPercent(t *testing.T) {
 			name: "left",
 			args: args{
 				value: MinPwmAngle,
-				middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
+				steeringConfig: &PWMConfig{
-				min:    MinPwmAngle,
+					Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
-				max:    MaxPwmAngle,
+					Min:    MinPwmAngle,
+					Max:    MaxPwmAngle,
+				},
 			},
 			want: -1.,
 		},
@@ -345,9 +348,11 @@ func Test_convertPwmSteeringToPercent(t *testing.T) {
 			name: "mid-left",
 			args: args{
 				value: int(math.Round((MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle - (MaxPwmAngle-MinPwmAngle)/4)),
-				middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
+				steeringConfig: &PWMConfig{
-				min:    MinPwmAngle,
+					Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
-				max:    MaxPwmAngle,
+					Min:    MinPwmAngle,
+					Max:    MaxPwmAngle,
+				},
 			},
 			want: -0.4989858,
 		},
@@ -355,9 +360,11 @@ func Test_convertPwmSteeringToPercent(t *testing.T) {
 			name: "over left",
 			args: args{
 				value: MinPwmAngle - 100,
-				middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
+				steeringConfig: &PWMConfig{
-				min:    MinPwmAngle,
+					Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
-				max:    MaxPwmAngle,
+					Min:    MinPwmAngle,
+					Max:    MaxPwmAngle,
+				},
 			},
 			want: -1.,
 		},
@@ -365,9 +372,11 @@ func Test_convertPwmSteeringToPercent(t *testing.T) {
 			name: "right",
 			args: args{
 				value: MaxPwmAngle,
-				middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
+				steeringConfig: &PWMConfig{
-				min:    MinPwmAngle,
+					Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
-				max:    MaxPwmAngle,
+					Min:    MinPwmAngle,
+					Max:    MaxPwmAngle,
+				},
 			},
 			want: 1.,
 		},
@@ -375,9 +384,11 @@ func Test_convertPwmSteeringToPercent(t *testing.T) {
 			name: "mid-right",
 			args: args{
 				value: int(math.Round((MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + (MaxPwmAngle-MinPwmAngle)/4)),
-				middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
+				steeringConfig: &PWMConfig{
-				min:    MinPwmAngle,
+					Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
-				max:    MaxPwmAngle,
+					Min:    MinPwmAngle,
+					Max:    MaxPwmAngle,
+				},
 			},
 			want: 0.5010142,
 		},
@@ -385,9 +396,11 @@ func Test_convertPwmSteeringToPercent(t *testing.T) {
 			name: "over right",
 			args: args{
 				value: MaxPwmAngle + 100,
-				middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
+				steeringConfig: &PWMConfig{
-				min:    MinPwmAngle,
+					Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
-				max:    MaxPwmAngle,
+					Min:    MinPwmAngle,
+					Max:    MaxPwmAngle,
+				},
 			},
 			want: 1.,
 		},
@@ -395,9 +408,11 @@ func Test_convertPwmSteeringToPercent(t *testing.T) {
 			name: "asymetric middle",
 			args: args{
 				value: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
-				middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
+				steeringConfig: &PWMConfig{
-				min:    MinPwmAngle,
+					Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
-				max:    MaxPwmAngle,
+					Min:    MinPwmAngle,
+					Max:    MaxPwmAngle,
+				},
 			},
 			want: 0.,
 		},
@@ -405,9 +420,11 @@ func Test_convertPwmSteeringToPercent(t *testing.T) {
 			name: "asymetric mid-left",
 			args: args{
 				value: int(math.Round(((MaxPwmAngle-MinPwmAngle)/2+MinPwmAngle+100-MinPwmAngle)/2) + MinPwmAngle),
-				middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
+				steeringConfig: &PWMConfig{
-				min:    MinPwmAngle,
+					Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
-				max:    MaxPwmAngle,
+					Min:    MinPwmAngle,
+					Max:    MaxPwmAngle,
+				},
 			},
 			want: -0.49915683,
 		},
@@ -415,9 +432,11 @@ func Test_convertPwmSteeringToPercent(t *testing.T) {
 			name: "asymetric left",
 			args: args{
 				value: MinPwmAngle,
-				middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
+				steeringConfig: &PWMConfig{
-				min:    MinPwmAngle,
+					Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
-				max:    MaxPwmAngle,
+					Min:    MinPwmAngle,
+					Max:    MaxPwmAngle,
+				},
 			},
 			want: -1.,
 		},
@@ -425,9 +444,11 @@ func Test_convertPwmSteeringToPercent(t *testing.T) {
 			name: "asymetric mid-right",
 			args: args{
 				value: int(math.Round((MaxPwmAngle - (MaxPwmAngle-((MaxPwmAngle-MinPwmAngle)/2+MinPwmAngle+100))/2))),
-				middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
+				steeringConfig: &PWMConfig{
-				min:    MinPwmAngle,
+					Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
-				max:    MaxPwmAngle,
+					Min:    MinPwmAngle,
+					Max:    MaxPwmAngle,
+				},
 			},
 			want: 0.50127226,
 		},
@@ -435,16 +456,18 @@ func Test_convertPwmSteeringToPercent(t *testing.T) {
 			name: "asymetric right",
 			args: args{
 				value: MaxPwmAngle,
-				middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
+				steeringConfig: &PWMConfig{
-				min:    MinPwmAngle,
+					Middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
-				max:    MaxPwmAngle,
+					Min:    MinPwmAngle,
+					Max:    MaxPwmAngle,
+				},
 			},
 			want: 1.,
 		},
 	}
 	for _, tt := range tests {
 		t.Run(tt.name, func(t *testing.T) {
-			if got := convertPwmSteeringToPercent(tt.args.value, tt.args.min, tt.args.max, tt.args.middle); got != tt.want {
+			if got := convertPwmSteeringToPercent(tt.args.value, tt.args.steeringConfig); got != tt.want {
 				t.Errorf("convertPwmSteeringToPercent() = %v, want %v", got, tt.want)
 			}
 		})