robocars/robocar-pca9685
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Use protobuf messages

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This commit is contained in:
Cyrille Nofficial
2020-01-01 20:54:38 +01:00
parent 6157e27850
commit 5e9b47970a
357 changed files with 232188 additions and 83 deletions
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8
actuator/steering.go
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@@ -2,7 +2,7 @@ package actuator
import (
"github.com/cyrilix/robocar-pca9685/util"
"log"
log "github.com/sirupsen/logrus"
"periph.io/x/periph/conn/gpio"
"periph.io/x/periph/experimental/devices/pca9685"
)
@@ -21,15 +21,15 @@ type Steering struct {
func (s *Steering) SetPulse(pulse int) {
err := s.dev.SetPwm(s.channel, 0, gpio.Duty(pulse))
if err != nil {
log.Printf("unable to set throttle pwm value: %v", err)
log.Infof("unable to set throttle pwm value: %v", err)
}
}
// Set percent value steering
func (s *Steering) SetPercentValue(p float64) {
func (s *Steering) SetPercentValue(p float32) {
// map absolute angle to angle that vehicle can implement.
pulse := util.MapRange(p, LeftAngle, RightAngle, float64(s.leftPWM), float64(s.rightPWM))
pulse := util.MapRange(float64(p), LeftAngle, RightAngle, float64(s.leftPWM), float64(s.rightPWM))
s.SetPulse(pulse)
}

10
actuator/throttle.go
View File

@@ -2,7 +2,7 @@ package actuator
import (
"github.com/cyrilix/robocar-pca9685/util"
"log"
log "github.com/sirupsen/logrus"
"periph.io/x/periph/conn/gpio"
"periph.io/x/periph/experimental/devices/pca9685"
)
@@ -21,18 +21,18 @@ type Throttle struct {
func (t *Throttle) SetPulse(pulse int) {
err := t.dev.SetPwm(t.channel, 0, gpio.Duty(pulse))
if err != nil {
log.Printf("unable to set throttle pwm value: %v", err)
log.Infof("unable to set throttle pwm value: %v", err)
}
}
// Set percent value throttle
func (t *Throttle) SetPercentValue(p float64) {
func (t *Throttle) SetPercentValue(p float32) {
var pulse int
if p > 0 {
pulse = util.MapRange(p, 0, MaxThrottle, float64(t.zeroPulse), float64(t.maxPulse))
pulse = util.MapRange(float64(p), 0, MaxThrottle, float64(t.zeroPulse), float64(t.maxPulse))
} else {
pulse = util.MapRange(p, MinThrottle, 0, float64(t.minPulse), float64(t.zeroPulse))
pulse = util.MapRange(float64(p), MinThrottle, 0, float64(t.minPulse), float64(t.zeroPulse))
}
t.SetPulse(pulse)
}