robocars/robocar-arduino
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refactor(pwm steering): asymetric center

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This commit is contained in:
Cyrille Nofficial
2022-01-17 18:40:25 +01:00
parent 7360b2bfa4
commit fcfc60ea38
3 changed files with 225 additions and 17 deletions
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30
cmd/rc-arduino/rc-arduino.go
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@@ -10,7 +10,16 @@ import (
"os"
)
const DefaultClientId = "robocar-arduino"
const (
DefaultClientId = "robocar-arduino"
SteeringLeftPWM = 1004
SteeringRightPWM = 1986
)
var (
SteeringCenterPWM = (SteeringRightPWM-SteeringLeftPWM)/2 + SteeringLeftPWM
)
func main() {
var mqttBroker, username, password, clientId string
@@ -25,6 +34,17 @@ func main() {
cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
var steeringLeftPWM, steeringRightPWM, steeringCenterPWM int
if err := cli.SetIntDefaultValueFromEnv(&steeringLeftPWM, "STEERING_LEFT_PWM", SteeringLeftPWM); err != nil {
zap.S().Warnf("unable to init steeringLeftPWM arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&steeringRightPWM, "STEERING_RIGHT_PWM", SteeringRightPWM); err != nil {
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)
}
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")
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")
@@ -32,6 +52,9 @@ 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.BoolVar(&debug, "debug", false, "Display raw value to debug")
flag.Parse()
@@ -52,7 +75,7 @@ func main() {
}
defer func() {
if err := lgr.Sync(); err != nil {
log.Printf("unable to Sync logger: %v\n", err)
log.Printf("unable to Sync logger: %v\n", err)
}
}()
zap.ReplaceGlobals(lgr)
@@ -63,7 +86,8 @@ func main() {
}
defer client.Disconnect(10)
a := arduino.NewPart(client, device, baud, throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic, pubFrequency)
sc := arduino.NewAsymetricPWMSteeringConfig(steeringLeftPWM, steeringRightPWM, steeringCenterPWM)
a := arduino.NewPart(client, device, baud, throttleTopic, steeringTopic, driveModeTopic, switchRecordTopic, pubFrequency, sc)
err = a.Start()
if err != nil {
zap.S().Errorw("unable to start service", "error", err)