robocars/robocar-arduino
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feat: publish pwm feedback

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This commit is contained in:
Cyrille Nofficial
2022-09-02 11:44:14 +02:00
parent 14d5c605e7
commit e788abd5a9
7 changed files with 423 additions and 75 deletions
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8
cmd/rc-arduino/rc-arduino.go
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@ -27,7 +27,8 @@ var (
func main() {
var mqttBroker, username, password, clientId string
var throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic string
var throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic, throttleFeedbackTopic string
var feedbackConfig string
var device string
var baud int
var pubFrequency float64
@ -75,8 +76,10 @@ func main() {
flag.StringVar(&steeringTopic, "mqtt-topic-steering", os.Getenv("MQTT_TOPIC_STEERING"), "Mqtt topic where to publish steering values, use MQTT_TOPIC_STEERING if args not set")
flag.StringVar(&driveModeTopic, "mqtt-topic-drive-mode", os.Getenv("MQTT_TOPIC_DRIVE_MODE"), "Mqtt topic where to publish drive mode state, use MQTT_TOPIC_DRIVE_MODE if args not set")
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(&throttleFeedbackTopic, "mqtt-topic-throttle-feedback", os.Getenv("MQTT_TOPIC_THROTTLE_FEEDBACK"), "Mqtt topic where to publish throttle feedback, use MQTT_TOPIC_THROTTLE_FEEDBACK if args not set")
flag.StringVar(&device, "device", "/dev/serial0", "Serial device")
flag.IntVar(&baud, "baud", 115200, "Serial baud")
flag.StringVar(&feedbackConfig, "throttle-feedback-config", "", "config file that described thresholds to map pwm to percent the throttle feedback")
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")
@ -124,8 +127,9 @@ func main() {
tc := arduino.NewAsymetricPWMConfig(throttleMinPWM, throttleMaxPWM, throttleZeroPWM)
secondaryTc := arduino.NewAsymetricPWMConfig(secondaryThrottleMinPWM, secondaryThrottleMaxPWM, secondaryThrottleMaxPWM)
a := arduino.NewPart(client, device, baud, throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic,
a := arduino.NewPart(client, device, baud, throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic, throttleFeedbackTopic,
pubFrequency,
arduino.WithThrottleFeedbackConfig(feedbackConfig),
arduino.WithThrottleConfig(tc),
arduino.WithSteeringConfig(sc),
arduino.WithSecondaryRC(secondaryTc, secondarySc),