robocars/robocar-pca9685
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refactor: log with zap

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This commit is contained in:
Cyrille Nofficial
2021-10-12 19:28:56 +02:00
parent ce28fac0f1
commit de9dae9bd6
99 changed files with 10049 additions and 40 deletions
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20
actuator/pca9685.go
View File

@ -1,7 +1,7 @@
package actuator
import (
log "github.com/sirupsen/logrus"
"go.uber.org/zap"
"periph.io/x/conn/v3/i2c/i2creg"
"periph.io/x/conn/v3/physic"
"periph.io/x/devices/v3/pca9685"
@ -13,27 +13,27 @@ var (
)
func init() {
log.Info("init pca9685 controller")
zap.S().Info("init pca9685 controller")
_, err := host.Init()
if err != nil {
log.Fatalf("unable to init host: %v", err)
zap.S().Fatalf("unable to init host: %v", err)
}
log.Info("open i2c bus")
zap.S().Info("open i2c bus")
bus, err := i2creg.Open("")
if err != nil {
log.Fatalf("unable to init i2c bus: %v", err)
zap.S().Fatalf("unable to init i2c bus: %v", err)
}
log.Info("i2c bus opened")
zap.S().Info("i2c bus opened")
device, err = pca9685.NewI2C(bus, pca9685.I2CAddr)
if err != nil {
log.Fatalf("unable to init pca9685 bus: %v", err)
zap.S().Fatalf("unable to init pca9685 bus: %v", err)
}
log.Infof("set pwm frequency to %d", 60)
zap.S().Infof("set pwm frequency to %d", 60)
err = device.SetPwmFreq(60 * physic.Hertz)
if err != nil {
log.Panicf("unable to set pwm frequency: %v", err)
zap.S().Panicf("unable to set pwm frequency: %v", err)
}
log.Info("init done")
zap.S().Info("init done")
}

4
actuator/steering.go
View File

@ -2,7 +2,7 @@ package actuator
import (
"github.com/cyrilix/robocar-pca9685/util"
log "github.com/sirupsen/logrus"
"go.uber.org/zap"
"periph.io/x/conn/v3/gpio"
"periph.io/x/devices/v3/pca9685"
)
@ -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.Warningf("unable to set steering pwm value: %v", err)
zap.S().Warnf("unable to set steering pwm value: %v", err)
}
}

8
actuator/throttle.go
View File

@ -2,7 +2,7 @@ package actuator
import (
"github.com/cyrilix/robocar-pca9685/util"
log "github.com/sirupsen/logrus"
"go.uber.org/zap"
"periph.io/x/conn/v3/gpio"
"periph.io/x/devices/v3/pca9685"
)
@ -21,7 +21,7 @@ type Throttle struct {
func (t *Throttle) SetPulse(pulse int) {
err := t.dev.SetPwm(t.channel, 0, gpio.Duty(pulse))
if err != nil {
log.Infof("unable to set throttle pwm value: %v", err)
zap.S().Errorf("unable to set throttle pwm value: %v", err)
}
}
@ -34,7 +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)
zap.S().Debugf("set throttle to %v-> %v (%v, %v, %v, %v, %v)", p, pulse, LeftAngle, RightAngle, t.minPulse, t.maxPulse, t.zeroPulse)
t.SetPulse(pulse)
}
@ -47,7 +47,7 @@ func NewThrottle(channel, zeroPulse, minPulse, maxPulse int) *Throttle {
maxPulse: maxPulse,
}
log.Infof("send zero pulse to calibrate ESC")
zap.S().Info("send zero pulse to calibrate ESC")
t.SetPercentValue(0)
return &t