robocars/robocar-arduino
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feat: remove secondary controler and manage max Throttle with channel3

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This commit is contained in:
Cyrille Nofficial
2023-11-02 18:50:14 +01:00
parent f960fcc768
commit f85239537f
3 changed files with 121 additions and 94 deletions
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29
cmd/rc-arduino/rc-arduino.go
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@ -27,7 +27,7 @@ var (
func main() {
var mqttBroker, username, password, clientId string
var throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic, throttleFeedbackTopic string
var throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic, throttleFeedbackTopic, maxThrottleCtrlTopic string
var feedbackConfig string
var device string
var baud int
@ -39,7 +39,6 @@ func main() {
cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
var steeringLeftPWM, steeringRightPWM, steeringCenterPWM 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)
}
@ -51,7 +50,6 @@ func main() {
}
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)
}
@ -77,6 +75,7 @@ func main() {
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(&maxThrottleCtrlTopic, "mqtt-topic-max-throttle-ctrl", os.Getenv("MQTT_TOPIC_MAX_THROTTLE_CTRL"), "Mqtt topic where to publish max throttle value allowed, use MQTT_TOPIC_MAX_THROTTLE_CTRL 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")
@ -84,16 +83,20 @@ func main() {
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")
var ctrlThrottleMinPWM, ctrlThrottleMaxPWM int
if err := cli.SetIntDefaultValueFromEnv(&ctrlThrottleMinPWM, "CTRL_THROTTLE_MIN_PWM", arduino.DefaultPwmThrottle.Min); err != nil {
zap.S().Warnf("unable to init ctlThrottleMinPWM arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&ctrlThrottleMaxPWM, "CTRL_THROTTLE_MAX_PWM", arduino.DefaultPwmThrottle.Max); err != nil {
zap.S().Warnf("unable to init ctrlThrottleMaxPWM arg: %v", err)
}
flag.IntVar(&ctrlThrottleMinPWM, "ctrl-throttle-min-pwm", ctrlThrottleMinPWM, "maxPwm min value for control throttle PWM, CTRL_THROTTLE_MIN_PWM env if args not set")
flag.IntVar(&ctrlThrottleMaxPWM, "ctrl-throttle-max-pwm", ctrlThrottleMaxPWM, "maxPwm max value for control throttle PWM, CTRL_THROTTLE_MAX_PWM env if args not set")
logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
flag.Parse()
@ -123,16 +126,16 @@ func main() {
defer client.Disconnect(10)
sc := arduino.NewAsymetricPWMConfig(steeringLeftPWM, steeringRightPWM, steeringCenterPWM)
secondarySc := arduino.NewAsymetricPWMConfig(secondarySteeringLeftPWM, secondarySteeringRightPWM, secondarySteeringCenterPWM)
ctrlThrottlrConfig := arduino.NewPWMConfig(ctrlThrottleMinPWM, ctrlThrottleMaxPWM)
tc := arduino.NewAsymetricPWMConfig(throttleMinPWM, throttleMaxPWM, throttleZeroPWM)
secondaryTc := arduino.NewAsymetricPWMConfig(secondaryThrottleMinPWM, secondaryThrottleMaxPWM, secondaryThrottleMaxPWM)
a := arduino.NewPart(client, device, baud, throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic, throttleFeedbackTopic,
a := arduino.NewPart(client, device, baud, throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic,
throttleFeedbackTopic, maxThrottleCtrlTopic,
pubFrequency,
arduino.WithThrottleFeedbackConfig(feedbackConfig),
arduino.WithThrottleConfig(tc),
arduino.WithSteeringConfig(sc),
arduino.WithSecondaryRC(secondaryTc, secondarySc),
arduino.WithMaxThrottleCtrl(ctrlThrottlrConfig),
)
cli.HandleExit(a)