From 0d183e0f0bd63ecf3709a0761212e109d9d0e32e Mon Sep 17 00:00:00 2001
From: Cyrille Nofficial <cyrille.nofficial@renault.com>
Date: Thu, 16 Jun 2022 15:24:56 +0200
Subject: [PATCH] fix(steering): reverse direction

---
 cmd/rc-pca9685/rc-pca9685.go |  2 ++
 pkg/actuator/pca9685.go      | 18 +++++++-----------
 pkg/actuator/pca9685_test.go |  6 ++++--
 3 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/cmd/rc-pca9685/rc-pca9685.go b/cmd/rc-pca9685/rc-pca9685.go
index 034c1c8..000c8a9 100644
--- a/cmd/rc-pca9685/rc-pca9685.go
+++ b/cmd/rc-pca9685/rc-pca9685.go
@@ -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"),
 	)
diff --git a/pkg/actuator/pca9685.go b/pkg/actuator/pca9685.go
index ff5c093..79a52b9 100644
--- a/pkg/actuator/pca9685.go
+++ b/pkg/actuator/pca9685.go
@@ -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,
 	}
diff --git a/pkg/actuator/pca9685_test.go b/pkg/actuator/pca9685_test.go
index f6255e2..238e487 100644
--- a/pkg/actuator/pca9685_test.go
+++ b/pkg/actuator/pca9685_test.go
@@ -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 {