Fix car integration

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
 }

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
 }

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)
-}