From d7b7ef91ed10fe288b94d05d26dbf303af0a4774 Mon Sep 17 00:00:00 2001 From: Cyrille Nofficial Date: Thu, 19 May 2022 16:42:53 +0200 Subject: [PATCH] fix: bad controller build --- pca9685/cli.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/pca9685/cli.py b/pca9685/cli.py index 4f1f471..f55e2f3 100644 --- a/pca9685/cli.py +++ b/pca9685/cli.py @@ -115,12 +115,14 @@ def execute_from_command_line(): if args["steering"]: steering_pin = donkeycar.parts.pins.pwm_pin_by_id(pin_id) - steering = actuator.PWMSteering(steering_pin, left_pulse=args["--left-pulse"], right_pulse=args["--right-pulse"]) + controller = actuator.PulseController(steering_pin) + steering = actuator.PWMSteering(controller=controller, left_pulse=args["--left-pulse"], right_pulse=args["--right-pulse"]) client = init_mqtt_steering_client(steering_controller=steering, broker_host=broker_host, user=user, password=password, client_id=client_id, steering_topic=topic) elif args["throttle"]: throttle_pin = donkeycar.parts.pins.pwm_pin_by_id("PCA9685.0:40.7") - throttle = actuator.PWMThrottle(throttle_pin, max_pulse=args["--max-pulse"], min_pulse=args["--min-pulse"], + controller = actuator.PulseController(throttle_pin) + throttle = actuator.PWMThrottle(controller=controller, max_pulse=args["--max-pulse"], min_pulse=args["--min-pulse"], zero_pulse=args["--zero-pulse"]) client = init_mqtt_throttle_client(throttle_controller=throttle, broker_host=broker_host, user=user, password=password, client_id=client_id, throttle_topic=topic)