robocars/robocar-arduino
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feat: allow to override pwm throttle limits

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This commit is contained in:
Cyrille Nofficial
2022-06-13 15:21:58 +02:00
parent 9c914d28e7
commit ed1f210a83
3 changed files with 71 additions and 25 deletions
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20
cmd/rc-arduino/rc-arduino.go
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@ -15,6 +15,10 @@ const (
SteeringLeftPWM = 1004
SteeringRightPWM = 1986
ThrottleZeroPWM = 1260
ThrottleMinPWM = 972.0
ThrottleMaxPWM = 1954.0
)
var (
@ -34,6 +38,7 @@ func main() {
cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
var steeringLeftPWM, steeringRightPWM, steeringCenterPWM int
var throttleMinPWM, throttleMaxPWM, throttleZeroPWM int
if err := cli.SetIntDefaultValueFromEnv(&steeringLeftPWM, "STEERING_LEFT_PWM", SteeringLeftPWM); err != nil {
zap.S().Warnf("unable to init steeringLeftPWM arg: %v", err)
}
@ -43,6 +48,15 @@ func main() {
if err := cli.SetIntDefaultValueFromEnv(&steeringCenterPWM, "STEERING_CENTER_PWM", SteeringCenterPWM); err != nil {
zap.S().Warnf("unable to init steeringRightPWM arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&throttleMinPWM, "THROTTLE_MIN_PWM", ThrottleMinPWM); err != nil {
zap.S().Warnf("unable to init steeringLeftPWM arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&throttleMaxPWM, "THROTTLE_MAX_PWM", ThrottleMaxPWM); err != nil {
zap.S().Warnf("unable to init steeringRightPWM arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&throttleZeroPWM, "THROTTLE_ZERO_PWM", ThrottleZeroPWM); err != nil {
zap.S().Warnf("unable to init steeringRightPWM arg: %v", err)
}
flag.Float64Var(&pubFrequency, "mqtt-pub-frequency", 25., "Number of messages to publish per second")
flag.StringVar(&throttleTopic, "mqtt-topic-throttle", os.Getenv("MQTT_TOPIC_THROTTLE"), "Mqtt topic where to publish throttle values, use MQTT_TOPIC_THROTTLE if args not set")
@ -54,6 +68,9 @@ func main() {
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")
logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
flag.Parse()
@ -83,7 +100,8 @@ func main() {
defer client.Disconnect(10)
sc := arduino.NewAsymetricPWMSteeringConfig(steeringLeftPWM, steeringRightPWM, steeringCenterPWM)
a := arduino.NewPart(client, device, baud, throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic, pubFrequency, sc)
tc := arduino.PWMThrottleConfig{Min: throttleMinPWM, Max: throttleMaxPWM, Zero: throttleZeroPWM}
a := arduino.NewPart(client, device, baud, throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic, pubFrequency, sc, tc)
cli.HandleExit(a)