refactor: move packages to pkg directory

pkg/actuator/pca9685.go

@@ -0,0 +1,39 @@
+package actuator
+
+import (
+	"go.uber.org/zap"
+	"periph.io/x/conn/v3/i2c/i2creg"
+	"periph.io/x/conn/v3/physic"
+	"periph.io/x/devices/v3/pca9685"
+	"periph.io/x/host/v3"
+)
+
+var (
+	device *pca9685.Dev
+)
+
+func init() {
+	zap.S().Info("init pca9685 controller")
+	_, err := host.Init()
+	if err != nil {
+		zap.S().Fatalf("unable to init host: %v", err)
+	}
+
+	zap.S().Info("open i2c bus")
+	bus, err := i2creg.Open("")
+	if err != nil {
+		zap.S().Fatalf("unable to init i2c bus: %v", err)
+	}
+	zap.S().Info("i2c bus opened")
+
+	device, err = pca9685.NewI2C(bus, pca9685.I2CAddr)
+	if err != nil {
+		zap.S().Fatalf("unable to init pca9685 bus: %v", err)
+	}
+	zap.S().Infof("set pwm frequency to %d", 60)
+	err = device.SetPwmFreq(60 * physic.Hertz)
+	if err != nil {
+		zap.S().Panicf("unable to set pwm frequency: %v", err)
+	}
+	zap.S().Info("init done")
+}

pkg/actuator/steering.go

@@ -0,0 +1,44 @@
+package actuator
+
+import (
+	"github.com/cyrilix/robocar-pca9685/pkg/util"
+	"go.uber.org/zap"
+	"periph.io/x/conn/v3/gpio"
+	"periph.io/x/devices/v3/pca9685"
+)
+
+const (
+	LeftAngle  = -1.
+	RightAngle = 1.
+)
+
+type Steering struct {
+	channel           int
+	leftPWM, rightPWM int
+	dev               *pca9685.Dev
+}
+
+func (s *Steering) SetPulse(pulse int) {
+	err := s.dev.SetPwm(s.channel, 0, gpio.Duty(pulse))
+	if err != nil {
+		zap.S().Warnf("unable to set steering pwm value: %v", err)
+	}
+
+}
+
+// Set percent value steering
+func (s *Steering) SetPercentValue(p float32) {
+	// map absolute angle to angle that vehicle can implement.
+	pulse := util.MapRange(float64(p), LeftAngle, RightAngle, float64(s.leftPWM), float64(s.rightPWM))
+	s.SetPulse(pulse)
+}
+
+func NewSteering(channel, leftPWM, rightPWM int) *Steering {
+	s := Steering{
+		channel:  channel,
+		dev:      device,
+		leftPWM:  leftPWM,
+		rightPWM: rightPWM,
+	}
+	return &s
+}

pkg/actuator/throttle.go

@@ -0,0 +1,54 @@
+package actuator
+
+import (
+	"github.com/cyrilix/robocar-pca9685/pkg/util"
+	"go.uber.org/zap"
+	"periph.io/x/conn/v3/gpio"
+	"periph.io/x/devices/v3/pca9685"
+)
+
+const (
+	MinThrottle = -1
+	MaxThrottle = 1
+)
+
+type Throttle struct {
+	channel                       int
+	zeroPulse, minPulse, maxPulse int
+	dev                           *pca9685.Dev
+}
+
+func (t *Throttle) SetPulse(pulse int) {
+	err := t.dev.SetPwm(t.channel, 0, gpio.Duty(pulse))
+	if err != nil {
+		zap.S().Errorf("unable to set throttle pwm value: %v", err)
+	}
+
+}
+
+// Set percent value throttle
+func (t *Throttle) SetPercentValue(p float32) {
+	var pulse int
+	if p > 0 {
+		pulse = util.MapRange(float64(p), 0, MaxThrottle, float64(t.zeroPulse), float64(t.maxPulse))
+	} else {
+		pulse = util.MapRange(float64(p), MinThrottle, 0, float64(t.minPulse), float64(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)
+}
+
+func NewThrottle(channel, zeroPulse, minPulse, maxPulse int) *Throttle {
+	t := Throttle{
+		channel:   channel,
+		dev:       device,
+		zeroPulse: zeroPulse,
+		minPulse:  minPulse,
+		maxPulse:  maxPulse,
+	}
+
+	zap.S().Info("send zero pulse to calibrate ESC")
+	t.SetPercentValue(0)
+
+	return &t
+}