robocars/robocar-pca9685
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refactor(pwm steering): asymetric center

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This commit is contained in:
Cyrille Nofficial 2022-01-17 19:00:12 +01:00
parent ee336c84cc
commit c42086a837
2 changed files with 31 additions and 16 deletions
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20
cmd/rc-pca9685/rc-pca9685.go
View File

@ -23,6 +23,10 @@ const (
SteeringRightPWM = 1986 SteeringRightPWM = 1986
) )
var (
SteeringCenterPWM = (SteeringRightPWM-SteeringLeftPWM)/2 + SteeringLeftPWM
)
func main() { func main() {
var mqttBroker, username, password, clientId, topicThrottle, topicSteering string var mqttBroker, username, password, clientId, topicThrottle, topicSteering string
@ -45,7 +49,7 @@ func main() {
zap.S().Warnf("unable to init throttleMaxPWM arg: %v", err) zap.S().Warnf("unable to init throttleMaxPWM arg: %v", err)
} }
var steeringChannel, steeringLeftPWM, steeringRightPWM int var steeringChannel, steeringLeftPWM, steeringRightPWM, steeringCenterPWM int
if err := cli.SetIntDefaultValueFromEnv(&steeringChannel, "STEERING_CHANNEL", SteeringChannel); err != nil { if err := cli.SetIntDefaultValueFromEnv(&steeringChannel, "STEERING_CHANNEL", SteeringChannel); err != nil {
zap.S().Warnf("unable to init steeringChannel arg: %v", err) zap.S().Warnf("unable to init steeringChannel arg: %v", err)
} }
@ -55,6 +59,9 @@ func main() {
if err := cli.SetIntDefaultValueFromEnv(&steeringRightPWM, "STEERING_RIGHT_PWM", SteeringRightPWM); err != nil { if err := cli.SetIntDefaultValueFromEnv(&steeringRightPWM, "STEERING_RIGHT_PWM", SteeringRightPWM); err != nil {
zap.S().Warnf("unable to init steeringRightPWM arg: %v", err) zap.S().Warnf("unable to init steeringRightPWM arg: %v", err)
} }
if err := cli.SetIntDefaultValueFromEnv(&steeringCenterPWM, "STEERING_CENTER_PWM", SteeringCenterPWM); err != nil {
zap.S().Warnf("unable to init steeringRightPWM arg: %v", err)
}
var updatePWMFrequency int var updatePWMFrequency int
if err := cli.SetIntDefaultValueFromEnv(&updatePWMFrequency, "UPDATE_PWM_FREQUENCY", 25); err != nil { if err := cli.SetIntDefaultValueFromEnv(&updatePWMFrequency, "UPDATE_PWM_FREQUENCY", 25); err != nil {
@ -66,10 +73,11 @@ func main() {
flag.IntVar(&throttleChannel, "throttle-channel", throttleChannel, "I2C channel to use to control throttle, THROTTLE_CHANNEL env 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(&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(&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(&throttleMinPWM, "throttle-min-pwm", throttleMinPWM, "Left 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(&throttleMaxPWM, "throttle-max-pwm", throttleMaxPWM, "Right 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(&steeringLeftPWM, "steering-left-pwm", steeringLeftPWM, "Right left value for steering PWM, STEERING_LEFT_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(&steeringRightPWM, "steering-right-pwm", steeringRightPWM, "Right right value for steering PWM, STEERING_RIGHT_PWM env if args not set")
flag.IntVar(&steeringCenterPWM, "steering-center-pwm", steeringCenterPWM, "Center value for steering PWM, STEERING_CENTER_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.IntVar(&updatePWMFrequency, "update-pwm-frequency", updatePWMFrequency, "Number of update values per seconds, UPDATE_PWM_FREQUENCY env if args not set")
logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level") logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
@ -99,7 +107,7 @@ func main() {
defer client.Disconnect(50) defer client.Disconnect(50)
t := actuator2.NewThrottle(throttleChannel, throttleStoppedPWM, throttleMinPWM, throttleMaxPWM) t := actuator2.NewThrottle(throttleChannel, throttleStoppedPWM, throttleMinPWM, throttleMaxPWM)
s := actuator2.NewSteering(steeringChannel, steeringLeftPWM, steeringRightPWM) s := actuator2.NewSteering(steeringChannel, steeringLeftPWM, steeringRightPWM, steeringCenterPWM)
p := part.NewPca9685Part(client, t, s, updatePWMFrequency, topicThrottle, topicSteering) p := part.NewPca9685Part(client, t, s, updatePWMFrequency, topicThrottle, topicSteering)
err = p.Start() err = p.Start()

27
pkg/actuator/steering.go
View File

@ -13,9 +13,9 @@ const (
) )
type Steering struct { type Steering struct {
channel int channel int
leftPWM, rightPWM int leftPWM, rightPWM, centerPWM int
dev *pca9685.Dev dev *pca9685.Dev
} }
func (s *Steering) SetPulse(pulse int) { func (s *Steering) SetPulse(pulse int) {
@ -26,19 +26,26 @@ func (s *Steering) SetPulse(pulse int) {
} }
// Set percent value steering // SetPercentValue Set percent value steering
func (s *Steering) SetPercentValue(p float32) { func (s *Steering) SetPercentValue(p float32) {
// map absolute angle to angle that vehicle can implement. // map absolute angle to angle that vehicle can implement.
pulse := util.MapRange(float64(p), LeftAngle, RightAngle, float64(s.leftPWM), float64(s.rightPWM))
pulse := s.centerPWM
if p > 0 {
pulse = util.MapRange(float64(p), 0, RightAngle, float64(s.centerPWM), float64(s.rightPWM))
} else if p < 0 {
pulse = util.MapRange(float64(p), LeftAngle, 0, float64(s.leftPWM), float64(s.centerPWM))
}
s.SetPulse(pulse) s.SetPulse(pulse)
} }
func NewSteering(channel, leftPWM, rightPWM int) *Steering { func NewSteering(channel, leftPWM, rightPWM, centerPWM int) *Steering {
s := Steering{ s := Steering{
channel: channel, channel: channel,
dev: device, dev: device,
leftPWM: leftPWM, leftPWM: leftPWM,
rightPWM: rightPWM, rightPWM: rightPWM,
centerPWM: centerPWM,
} }
return &s return &s
} }