robocars/robocar-pca9685
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fix(steering): reverse direction

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This commit is contained in:
Cyrille Nofficial 2022-06-16 15:24:56 +02:00
parent f046bead37
commit 0d183e0f0b
3 changed files with 13 additions and 13 deletions
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2
cmd/rc-pca9685/rc-pca9685.go
View File

@ -128,6 +128,7 @@ func main() {
dev,
throttleChannel,
actuator.PWM(throttleMinPWM), actuator.PWM(throttleMaxPWM), actuator.PWM(throttleStoppedPWM),
-1., 1.,
freq,
zap.S().With("actuator", "throttle"),
)
@ -139,6 +140,7 @@ func main() {
dev,
steeringChannel,
actuator.PWM(steeringLeftPWM), actuator.PWM(steeringRightPWM), actuator.PWM(steeringCenterPWM),
1., -1.,
freq,
zap.S().With("actuator", "steering"),
)

18
pkg/actuator/pca9685.go
View File

@ -49,9 +49,9 @@ func (c *Pca9685Controller) convertToDuty(percent float32) (gpio.Duty, error) {
// map absolute angle to angle that vehicle can implement.
pw := int(c.neutralPWM)
if percent > 0 {
pw = util.MapRange(float64(percent), 0, MaxPercent, float64(c.neutralPWM), float64(c.maxPWM))
pw = util.MapRange(float64(percent), 0, c.maxPercent, float64(c.neutralPWM), float64(c.maxPWM))
} else if percent < 0 {
pw = util.MapRange(float64(percent), MinPercent, 0, float64(c.minPWM), float64(c.neutralPWM))
pw = util.MapRange(float64(percent), c.minPercent, 0, float64(c.minPWM), float64(c.neutralPWM))
}
c.logr.Debugf("convert value %v to pw: %v", percent, pw)
@ -59,20 +59,13 @@ func (c *Pca9685Controller) convertToDuty(percent float32) (gpio.Duty, error) {
draw := float64(pw) / float64(per)
return gpio.Duty(int32(draw * float64(gpio.DutyMax))), nil
/*
d, err := gpio.ParseDuty(strconv.Itoa(int(dd)))
// d, err := gpio.ParseDuty(fmt.Sprintf("%.f%%", draw*100))
if err != nil {
return 0, fmt.Errorf("unable to parse duty, probably bad compute: %w", err)
}
return d, nil
*/
}
type Pca9685Controller struct {
logr *zap.SugaredLogger
pin gpio.PinIO
minPWM, maxPWM, neutralPWM PWM
minPercent, maxPercent float64
freq physic.Frequency
}
@ -103,7 +96,8 @@ func (c *Pca9685Controller) SetPercentValue(p float32) error {
return nil
}
func NewPca9685Controller(device *pca9685.Dev, channel int, minPWM, maxPWM, neutralPWM PWM, freq physic.Frequency, logr *zap.SugaredLogger) (*Pca9685Controller, error) {
func NewPca9685Controller(device *pca9685.Dev, channel int, minPWM, maxPWM, neutralPWM PWM, minPercent, maxPercent float64,
freq physic.Frequency, logr *zap.SugaredLogger) (*Pca9685Controller, error) {
p, err := device.CreatePin(channel)
if err != nil {
return nil, fmt.Errorf("unable to create pin for channel %v: %w", channel, err)
@ -113,6 +107,8 @@ func NewPca9685Controller(device *pca9685.Dev, channel int, minPWM, maxPWM, neut
minPWM: minPWM,
maxPWM: maxPWM,
neutralPWM: neutralPWM,
minPercent: minPercent,
maxPercent: maxPercent,
freq: freq,
logr: logr,
}

6
pkg/actuator/pca9685_test.go
View File

@ -48,7 +48,7 @@ func Test_convertToDuty(t *testing.T) {
centerPWM: 1500,
freq: 60 * physic.Hertz,
},
want: "6%",
want: "12%",
},
{
name: "right",
@ -59,7 +59,7 @@ func Test_convertToDuty(t *testing.T) {
centerPWM: 1500,
freq: 60 * physic.Hertz,
},
want: "12%",
want: "6%",
},
}
for _, tt := range tests {
@ -71,6 +71,8 @@ func Test_convertToDuty(t *testing.T) {
maxPWM: tt.args.rightPWM,
neutralPWM: tt.args.centerPWM,
freq: tt.args.freq,
minPercent: 1.,
maxPercent: -1,
}
if got, err := c.convertToDuty(tt.args.percent); got.String() != tt.want {