robocars/robocar-pca9685
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This commit is contained in:
Cyrille Nofficial 2020-02-03 19:15:51 +01:00
parent 5e9b47970a
commit dca1c25f11
5 changed files with 27 additions and 19 deletions
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14
actuator/pca9685.go
View File

@ -1,7 +1,7 @@
package actuator
import (
"log"
log "github.com/sirupsen/logrus"
"periph.io/x/periph/conn/i2c/i2creg"
"periph.io/x/periph/conn/physic"
"periph.io/x/periph/experimental/devices/pca9685"
@ -13,27 +13,27 @@ var (
)
func init() {
log.Print("init pca9685 controller")
log.Info("init pca9685 controller")
_, err := host.Init()
if err != nil {
log.Fatalf("unable to init host: %v", err)
}
log.Print("open i2c bus")
log.Info("open i2c bus")
bus, err := i2creg.Open("")
if err != nil {
log.Fatalf("unable to init i2c bus: %v", err)
}
log.Print("i2c bus opened")
log.Info("i2c bus opened")
device, err = pca9685.NewI2C(bus, pca9685.I2CAddr)
if err != nil {
log.Fatalf("unable to init pca9685 bus: %v", err)
}
log.Printf("set pwm frequency to %d", 60)
log.Infof("set pwm frequency to %d", 60)
err = device.SetPwmFreq(60 * physic.Hertz)
if err != nil {
log.Fatalf("unable to set pwm frequency: %v", err)
log.Panicf("unable to set pwm frequency: %v", err)
}
log.Print("init done")
log.Info("init done")
}

2
actuator/steering.go
View File

@ -21,7 +21,7 @@ type Steering struct {
func (s *Steering) SetPulse(pulse int) {
err := s.dev.SetPwm(s.channel, 0, gpio.Duty(pulse))
if err != nil {
log.Infof("unable to set throttle pwm value: %v", err)
log.Warningf("unable to set steering pwm value: %v", err)
}
}

3
actuator/throttle.go
View File

@ -34,6 +34,7 @@ func (t *Throttle) SetPercentValue(p float32) {
} else {
pulse = util.MapRange(float64(p), MinThrottle, 0, float64(t.minPulse), float64(t.zeroPulse))
}
log.Debugf("set throttle to %v-> %v (%v, %v, %v, %v, %v)", p, pulse, LeftAngle, RightAngle, t.minPulse, t.maxPulse, t.zeroPulse)
t.SetPulse(pulse)
}
@ -46,7 +47,7 @@ func NewThrottle(channel, zeroPulse, minPulse, maxPulse int) *Throttle {
maxPulse: maxPulse,
}
log.Printf("send zero pulse to calibrate ESC: %v", zeroPulse)
log.Infof("send zero pulse to calibrate ESC")
t.SetPulse(zeroPulse)
return &t

22
cmd/rc-pca9685/rc-pca9685.go
View File

@ -24,40 +24,42 @@ const (
func main() {
var mqttBroker, username, password, clientId, topicThrottle, topicSteering string
var debug bool
mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
flag.BoolVar(&debug, "debug", false, "Display raw value to debug")
var throttleChannel, throttleStoppedPWM, throttleMinPWM, throttleMaxPWM int
if err := cli.SetIntDefaultValueFromEnv(&throttleChannel, "THROTTLE_CHANNEL", ThrottleChannel); err != nil {
log.Infof("unable to init throttleChannel arg: %v", err)
log.Warningf("unable to init throttleChannel arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&throttleStoppedPWM, "THROTTLE_STOPPED_PWM", ThrottleStoppedPWM); err != nil {
log.Infof("unable to init throttleStoppedPWM arg: %v", err)
log.Warningf("unable to init throttleStoppedPWM arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&throttleMinPWM, "THROTTLE_MIN_PWM", ThrottleMinPWM); err != nil {
log.Infof("unable to init throttleMinPWM arg: %v", err)
log.Warningf("unable to init throttleMinPWM arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&throttleMaxPWM, "THROTTLE_MAX_PWM", ThrottleMaxPWM); err != nil {
log.Infof("unable to init throttleMaxPWM arg: %v", err)
log.Warningf("unable to init throttleMaxPWM arg: %v", err)
}
var steeringChannel, steeringLeftPWM, steeringRightPWM int
if err := cli.SetIntDefaultValueFromEnv(&steeringChannel, "STEERING_CHANNEL", SteeringChannel); err != nil {
log.Infof("unable to init steeringChannel arg: %v", err)
log.Warningf("unable to init steeringChannel arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&steeringLeftPWM, "STEERING_LEFT_PWM", SteeringLeftPWM); err != nil {
log.Infof("unable to init steeringLeftPWM arg: %v", err)
log.Warningf("unable to init steeringLeftPWM arg: %v", err)
}
if err := cli.SetIntDefaultValueFromEnv(&steeringRightPWM, "STEERING_RIGHT_PWM", SteeringRightPWM); err != nil {
log.Infof("unable to init steeringRightPWM arg: %v", err)
log.Warningf("unable to init steeringRightPWM arg: %v", err)
}
var updatePWMFrequency int
if err := cli.SetIntDefaultValueFromEnv(&updatePWMFrequency, "UPDATE_PWM_FREQUENCY", 25); err != nil {
log.Infof("unable to init updatePWMFrequency arg: %v", err)
log.Warningf("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")
@ -77,6 +79,10 @@ func main() {
os.Exit(1)
}
if debug {
log.SetLevel(log.DebugLevel)
}
client, err := cli.Connect(mqttBroker, username, password, clientId)
if err != nil {
log.Fatalf("unable to connect to mqtt bus: %v", err)

5
part/part.go
View File

@ -67,9 +67,10 @@ func (p *Pca9685Part) onThrottleChange(_ MQTT.Client, message MQTT.Message) {
var throttle events.ThrottleMessage
err := proto.Unmarshal(message.Payload(), &throttle)
if err != nil {
log.Infof("[%v] unable to unmarshall throttle msg: %v", message.Topic(), err)
log.Warningf("[%v] unable to unmarshall throttle msg: %v", message.Topic(), err)
return
}
log.Debugf("new throttle value: %v", throttle.GetThrottle())
p.muThrottle.Lock()
defer p.muThrottle.Unlock()
p.throttleCtrl.SetPercentValue(throttle.GetThrottle())
@ -79,7 +80,7 @@ func (p *Pca9685Part) onSteeringChange(_ MQTT.Client, message MQTT.Message) {
var steering events.SteeringMessage
err := proto.Unmarshal(message.Payload(), &steering)
if err != nil {
log.Infof("[%v] unable to unmarshall steering msg: %v", message.Topic(), err)
log.Warningf("[%v] unable to unmarshal steering msg: %v", message.Topic(), err)
return
}
p.muSteering.Lock()