robocars/robocar-pca9685
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First implementation

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This commit is contained in:
Cyrille Nofficial
2019-12-27 18:23:08 +01:00
parent 1cf57702cc
commit b3de5ca724
211 changed files with 28458 additions and 0 deletions
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94
cmd/rc-pca9685/rc-pca9685.go Normal file
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package main
import (
"flag"
"github.com/cyrilix/robocar-base/cli"
rc "github.com/cyrilix/robocar-pca9685/actuator"
"github.com/cyrilix/robocar-pca9685/part"
"log"
"os"
)
const (
DefaultClientId = "robocar-pca9685"
SteeringChannel = 0
ThrottleChannel = 1
ThrottleStoppedPWM = 1455
ThrottleMinPWM = 1113
ThrottleMaxPWM = 1800
SteeringLeftPWM = 1004
SteeringRightPWM = 1986
)
func main() {
var mqttBroker, username, password, clientId, topicThrottle, topicSteering string
mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
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)
}
if err := cli.SetIntDefaultValueFromEnv(&throttleStoppedPWM, "THROTTLE_STOPPED_PWM", ThrottleStoppedPWM); err != nil {
log.Printf("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)
}
if err := cli.SetIntDefaultValueFromEnv(&throttleMaxPWM, "THROTTLE_MAX_PWM", ThrottleMaxPWM); err != nil {
log.Printf("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)
}
if err := cli.SetIntDefaultValueFromEnv(&steeringLeftPWM, "STEERING_LEFT_PWM", SteeringLeftPWM); err != nil {
log.Printf("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)
}
var updatePWMFrequency int
if err := cli.SetIntDefaultValueFromEnv(&updatePWMFrequency, "UPDATE_PWM_FREQUENCY", 25); err != nil {
log.Printf("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")
flag.StringVar(&topicSteering, "mqtt-topic-steering", os.Getenv("MQTT_TOPIC_STEERING"), "Mqtt topic that contains steering value, use MQTT_TOPIC_STEERING if args not set")
flag.IntVar(&throttleChannel, "throttle-channel", throttleChannel, "I2C channel to use to control throttle, THROTTLE_CHANNEL env if args not set")
flag.IntVar(&steeringChannel, "steering-channel", steeringChannel, "I2C channel to use to control steering, STEERING_CHANNEL env if args not set")
flag.IntVar(&throttleStoppedPWM, "throttle-zero-pwm", throttleStoppedPWM, "Zero value for throttle PWM, THROTTLE_STOPPED_PWM env if args not set")
flag.IntVar(&throttleMinPWM, "throttle-min-pwm", throttleMinPWM, "Min value for throttle PWM, THROTTLE_MIN_PWM env if args not set")
flag.IntVar(&throttleMaxPWM, "throttle-max-pwm", throttleMaxPWM, "Max value for throttle PWM, THROTTLE_MAX_PWM env if args not set")
flag.IntVar(&steeringLeftPWM, "steering-left-pwm", steeringLeftPWM, "Max left value for steering PWM, STEERING_STOPPED_PWM env if args not set")
flag.IntVar(&steeringRightPWM, "steering-right-pwm", steeringRightPWM, "Max right value for steering PWM, STEERING_MIN_PWM env if args not set")
flag.IntVar(&updatePWMFrequency, "update-pwm-frequency", updatePWMFrequency, "Number of update values per seconds, UPDATE_PWM_FREQUENCY env if args not set")
flag.Parse()
if len(os.Args) <= 1 {
flag.PrintDefaults()
os.Exit(1)
}
client, err := cli.Connect(mqttBroker, username, password, clientId)
if err != nil {
log.Fatalf("unable to connect to mqtt bus: %v", err)
}
defer client.Disconnect(50)
t := rc.NewThrottle(throttleChannel, throttleStoppedPWM, throttleMinPWM, throttleMaxPWM)
s := rc.NewSteering(steeringChannel, steeringLeftPWM, steeringRightPWM)
p := part.NewPca9685Part(client, t, s, updatePWMFrequency, topicThrottle, topicSteering)
err = p.Start()
if err != nil {
log.Fatalf("unable to start service: %v", err)
}
}