robocars/robocar-pca9685
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fix: compute duty with raw value in order to increase precision

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This commit is contained in:
Cyrille Nofficial 2022-06-16 09:28:01 +02:00
parent 79193c1d69
commit f046bead37
1 changed files with 11 additions and 5 deletions
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16
pkg/actuator/pca9685.go
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@ -58,11 +58,15 @@ func (c *Pca9685Controller) convertToDuty(percent float32) (gpio.Duty, error) {
per := c.freq.Period().Microseconds()
draw := float64(pw) / float64(per)
d, err := gpio.ParseDuty(fmt.Sprintf("%.f%%", draw*100))
if err != nil {
return 0, fmt.Errorf("unable to parse duty, probably bad compute: %w", err)
}
return d, nil
return gpio.Duty(int32(draw * float64(gpio.DutyMax))), nil
/*
d, err := gpio.ParseDuty(strconv.Itoa(int(dd)))
// d, err := gpio.ParseDuty(fmt.Sprintf("%.f%%", draw*100))
if err != nil {
return 0, fmt.Errorf("unable to parse duty, probably bad compute: %w", err)
}
return d, nil
*/
}
type Pca9685Controller struct {
@ -77,6 +81,8 @@ func (c *Pca9685Controller) Close() error {
}
func (c *Pca9685Controller) SetDuty(d gpio.Duty) error {
c.logr.Debugf("set duty %v -> %d (12bits value: %d)", d.String(), d, d>>12)
err := c.pin.PWM(d, c.freq)
if err != nil {
return fmt.Errorf("unable to set pwm value: %v", err)