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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22
cmd/rc-pca9685/rc-pca9685.go
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@ -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)