From 932e447cf128373bc5f4165888c0c4585104f05b Mon Sep 17 00:00:00 2001
From: Cyrille Nofficial <cynoffic@cyrilix.fr>
Date: Mon, 3 Feb 2020 19:16:07 +0100
Subject: [PATCH] Fix car integration

---
 actuator/steering.go |  4 ++--
 actuator/throttle.go |  2 +-
 part/part.go         | 17 +++--------------
 3 files changed, 6 insertions(+), 17 deletions(-)

diff --git a/actuator/steering.go b/actuator/steering.go
index de7cebd..90e43b3 100644
--- a/actuator/steering.go
+++ b/actuator/steering.go
@@ -34,11 +34,11 @@ func (s *Steering) SetPercentValue(p float32) {
 }
 
 func NewSteering(channel, leftPWM, rightPWM int) *Steering {
-	t := Steering{
+	s := Steering{
 		channel:  channel,
 		dev:      device,
 		leftPWM:  leftPWM,
 		rightPWM: rightPWM,
 	}
-	return &t
+	return &s
 }
diff --git a/actuator/throttle.go b/actuator/throttle.go
index 9a5cf43..b747be1 100644
--- a/actuator/throttle.go
+++ b/actuator/throttle.go
@@ -48,7 +48,7 @@ func NewThrottle(channel, zeroPulse, minPulse, maxPulse int) *Throttle {
 	}
 
 	log.Infof("send zero pulse to calibrate ESC")
-	t.SetPulse(zeroPulse)
+	t.SetPercentValue(0)
 
 	return &t
 }
diff --git a/part/part.go b/part/part.go
index e1733b8..944344c 100644
--- a/part/part.go
+++ b/part/part.go
@@ -9,7 +9,6 @@ import (
 	"github.com/golang/protobuf/proto"
 	log "github.com/sirupsen/logrus"
 	"sync"
-	"time"
 )
 
 type Pca9685Part struct {
@@ -46,12 +45,12 @@ func (p *Pca9685Part) Start() error {
 	if err := p.registerCallbacks(); err != nil {
 		return fmt.Errorf("unable to start service: %v", err)
 	}
-	ticker := time.NewTicker(time.Second / time.Duration(p.updateFrequency))
+
+	p.steeringCtrl.SetPercentValue(0)
+	p.throttleCtrl.SetPercentValue(0)
 
 	for {
 		select {
-		case <-ticker.C:
-			p.updateCtrl()
 		case <-p.cancel:
 			return nil
 		}
@@ -101,13 +100,3 @@ func (p *Pca9685Part) registerCallbacks() error {
 
 	return nil
 }
-
-func (p *Pca9685Part) updateCtrl() {
-	p.muThrottle.Lock()
-	defer p.muThrottle.Unlock()
-	p.throttleCtrl.SetPercentValue(p.throttleValue)
-
-	p.muSteering.Lock()
-	defer p.muSteering.Unlock()
-	p.steeringCtrl.SetPercentValue(p.steeringValue)
-}