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refactor(pwm steering): asymetric center

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cyrilix committed 2022-01-17 18:40:25 +01:00
1 parent 7360b2bfa4
commit fcfc60ea38
3 files changed
+225 -17
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pkg/arduino/arduino_test.go
+157 -5
View File
@@ -6,12 +6,22 @@ import (
"github.com/cyrilix/robocar-protobuf/go/events"
mqtt "github.com/eclipse/paho.mqtt.golang"
"google.golang.org/protobuf/proto"
"math"
"net"
"sync"
"testing"
"time"
)
const (
MinPwmAngle = 999.0
MaxPwmAngle = 1985.0
)
var (
MiddlePwmAngle = int((MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle)
)
func TestArduinoPart_Update(t *testing.T) {
oldPublish := publish
defer func() { publish = oldPublish }()
@@ -48,7 +58,7 @@ func TestArduinoPart_Update(t *testing.T) {
}
}()
a := Part{client: nil, serial: conn, pubFrequency: 100}
a := Part{client: nil, serial: conn, pubFrequency: 100, pwmSteeringConfig: NewAsymetricPWMSteeringConfig(MinPwmAngle, MaxPwmAngle, MiddlePwmAngle)}
go func() {
err := a.Start()
if err != nil {
@@ -103,14 +113,14 @@ func TestArduinoPart_Update(t *testing.T) {
fmt.Sprintf("12395,%d,%d,%d,%d,%d,%d,50,%d\n", 99, channel2, channel3, channel4, channel5, channel6, distanceCm),
-1., -1., events.DriveMode_USER, false},
{"Sterring: left",
fmt.Sprintf("12400,%d,%d,%d,%d,%d,%d,50,%d\n", 998, channel2, channel3, channel4, channel5, channel6, distanceCm),
-1., -0.93, events.DriveMode_USER, false},
fmt.Sprintf("12400,%d,%d,%d,%d,%d,%d,50,%d\n", int(MinPwmAngle+40), channel2, channel3, channel4, channel5, channel6, distanceCm),
-1., -0.92, events.DriveMode_USER, false},
{"Sterring: middle",
fmt.Sprintf("12405,%d,%d,%d,%d,%d,%d,50,%d\n", 1450, channel2, channel3, channel4, channel5, channel6, distanceCm),
-1., -0.04, events.DriveMode_USER, false},
-1., -0.09, events.DriveMode_USER, false},
{"Sterring: right",
fmt.Sprintf("12410,%d,%d,%d,%d,%d,%d,50,%d\n", 1958, channel2, channel3, channel4, channel5, channel6, distanceCm),
-1., 0.96, events.DriveMode_USER, false},
-1., 0.95, events.DriveMode_USER, false},
{"Sterring: over right",
fmt.Sprintf("12415,%d,%d,%d,%d,%d,%d,50,%d\n", 2998, channel2, channel3, channel4, channel5, channel6, distanceCm),
-1., 1., events.DriveMode_USER, false},
@@ -285,3 +295,145 @@ func unmarshalMsg(t *testing.T, payload []byte, msg proto.Message) {
t.Errorf("unable to unmarshal protobuf content to %T: %v", msg, err)
}
}
func Test_convertPwmSteeringToPercent(t *testing.T) {
type args struct {
value int
middle int
min int
max int
}
tests := []struct {
name string
args args
want float32
}{
{
name: "middle",
args: args{
value: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
min: MinPwmAngle,
max: MaxPwmAngle,
},
want: 0.,
},
{
name: "left",
args: args{
value: MinPwmAngle,
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
min: MinPwmAngle,
max: MaxPwmAngle,
},
want: -1.,
},
{
name: "mid-left",
args: args{
value: int(math.Round((MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle - (MaxPwmAngle-MinPwmAngle)/4)),
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
min: MinPwmAngle,
max: MaxPwmAngle,
},
want: -0.4989858,
},
{
name: "over left",
args: args{
value: MinPwmAngle - 100,
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
min: MinPwmAngle,
max: MaxPwmAngle,
},
want: -1.,
},
{
name: "right",
args: args{
value: MaxPwmAngle,
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
min: MinPwmAngle,
max: MaxPwmAngle,
},
want: 1.,
},
{
name: "mid-right",
args: args{
value: int(math.Round((MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + (MaxPwmAngle-MinPwmAngle)/4)),
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
min: MinPwmAngle,
max: MaxPwmAngle,
},
want: 0.5010142,
},
{
name: "over right",
args: args{
value: MaxPwmAngle + 100,
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle,
min: MinPwmAngle,
max: MaxPwmAngle,
},
want: 1.,
},
{
name: "asymetric middle",
args: args{
value: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
min: MinPwmAngle,
max: MaxPwmAngle,
},
want: 0.,
},
{
name: "asymetric mid-left",
args: args{
value: int(math.Round(((MaxPwmAngle-MinPwmAngle)/2+MinPwmAngle+100-MinPwmAngle)/2) + MinPwmAngle),
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
min: MinPwmAngle,
max: MaxPwmAngle,
},
want: -0.49915683,
},
{
name: "asymetric left",
args: args{
value: MinPwmAngle,
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
min: MinPwmAngle,
max: MaxPwmAngle,
},
want: -1.,
},
{
name: "asymetric mid-right",
args: args{
value: int(math.Round((MaxPwmAngle - (MaxPwmAngle-((MaxPwmAngle-MinPwmAngle)/2+MinPwmAngle+100))/2))),
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
min: MinPwmAngle,
max: MaxPwmAngle,
},
want: 0.50127226,
},
{
name: "asymetric right",
args: args{
value: MaxPwmAngle,
middle: (MaxPwmAngle-MinPwmAngle)/2 + MinPwmAngle + 100,
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 {
t.Errorf("convertPwmSteeringToPercent() = %v, want %v", got, tt.want)
}
})
}
}