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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18
cmd/rc-pca9685/rc-pca9685.go
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@@ -5,7 +5,7 @@ import (
"github.com/cyrilix/robocar-base/cli"
rc "github.com/cyrilix/robocar-pca9685/actuator"
"github.com/cyrilix/robocar-pca9685/part"
"log"
log "github.com/sirupsen/logrus"
"os"
)
@@ -32,32 +32,32 @@ func main() {
var throttleChannel, throttleStoppedPWM, throttleMinPWM, throttleMaxPWM int
if err := cli.SetIntDefaultValueFromEnv(&throttleChannel, "THROTTLE_CHANNEL", ThrottleChannel); err != nil {
log.Printf("unable to init throttleChannel arg: %v", err)
log.Infof("unable to init throttleChannel arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&throttleStoppedPWM, "THROTTLE_STOPPED_PWM", ThrottleStoppedPWM); err != nil {
log.Printf("unable to init throttleStoppedPWM arg: %v", err)
log.Infof("unable to init throttleStoppedPWM arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&throttleMinPWM, "THROTTLE_MIN_PWM", ThrottleMinPWM); err != nil {
log.Printf("unable to init throttleMinPWM arg: %v", err)
log.Infof("unable to init throttleMinPWM arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&throttleMaxPWM, "THROTTLE_MAX_PWM", ThrottleMaxPWM); err != nil {
log.Printf("unable to init throttleMaxPWM arg: %v", err)
log.Infof("unable to init throttleMaxPWM arg: %v", err)
}
var steeringChannel, steeringLeftPWM, steeringRightPWM int
if err := cli.SetIntDefaultValueFromEnv(&steeringChannel, "STEERING_CHANNEL", SteeringChannel); err != nil {
log.Printf("unable to init steeringChannel arg: %v", err)
log.Infof("unable to init steeringChannel arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&steeringLeftPWM, "STEERING_LEFT_PWM", SteeringLeftPWM); err != nil {
log.Printf("unable to init steeringLeftPWM arg: %v", err)
log.Infof("unable to init steeringLeftPWM arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&steeringRightPWM, "STEERING_RIGHT_PWM", SteeringRightPWM); err != nil {
log.Printf("unable to init steeringRightPWM arg: %v", err)
log.Infof("unable to init steeringRightPWM arg: %v", err)
}
var updatePWMFrequency int
if err := cli.SetIntDefaultValueFromEnv(&updatePWMFrequency, "UPDATE_PWM_FREQUENCY", 25); err != nil {
log.Printf("unable to init updatePWMFrequency arg: %v", err)
log.Infof("unable to init updatePWMFrequency arg: %v", err)
}
flag.StringVar(&topicThrottle, "mqtt-topic-throttle", os.Getenv("MQTT_TOPIC_THROTTLE"), "Mqtt topic that contains throttle value, use MQTT_TOPIC_THROTTLE if args not set")