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