robocars/robocar-pca9685
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config: add flag to adjust pwm frequency

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This commit is contained in:
Cyrille Nofficial 2022-06-15 19:00:07 +02:00
parent ed0f844e40
commit f2b5d927ca
1 changed files with 3 additions and 4 deletions
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7
cmd/rc-pca9685/rc-pca9685.go
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@ -22,8 +22,6 @@ const (
SteeringLeftPWM = 1004
SteeringRightPWM = 1986
DefaultFrequency = 60 * physic.Hertz
)
var (
@ -66,7 +64,7 @@ func main() {
zap.S().Warnf("unable to init steeringRightPWM arg: %v", err)
}
var updatePWMFrequency int
var updatePWMFrequency, pwmFreq int
if err := cli.SetIntDefaultValueFromEnv(&updatePWMFrequency, "UPDATE_PWM_FREQUENCY", 25); err != nil {
zap.S().Warnf("unable to init updatePWMFrequency arg: %v", err)
}
@ -81,6 +79,7 @@ func main() {
flag.IntVar(&steeringLeftPWM, "steering-left-pwm", steeringLeftPWM, "Right left value for steering PWM, STEERING_LEFT_PWM env if args not set")
flag.IntVar(&steeringRightPWM, "steering-right-pwm", steeringRightPWM, "Right right value for steering PWM, STEERING_RIGHT_PWM env if args not set")
flag.IntVar(&steeringCenterPWM, "steering-center-pwm", steeringCenterPWM, "Center value for steering PWM, STEERING_CENTER_PWM env if args not set")
flag.IntVar(&pwmFreq, "pwm-freq", 60, "PWM frequency in Hz")
flag.IntVar(&updatePWMFrequency, "update-pwm-frequency", updatePWMFrequency, "Number of update values per seconds, UPDATE_PWM_FREQUENCY env if args not set")
logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
@ -109,7 +108,7 @@ func main() {
}
defer client.Disconnect(50)
freq := DefaultFrequency
freq := physic.Frequency(pwmFreq) * physic.Hertz
zap.S().Infof("throttle channel : %v", throttleChannel)
zap.S().Infof("throttle frequency: %v", freq)