55 lines
1.3 KiB
Go
55 lines
1.3 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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MinThrottle = -1
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MaxThrottle = 1
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)
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type Throttle struct {
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channel int
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zeroPulse, minPulse, maxPulse int
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dev *pca9685.Dev
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}
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func (t *Throttle) SetPulse(pulse int) {
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err := t.dev.SetPwm(t.channel, 0, gpio.Duty(pulse))
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if err != nil {
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zap.S().Errorf("unable to set throttle pwm value: %v", err)
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}
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}
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// Set percent value throttle
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func (t *Throttle) SetPercentValue(p float32) {
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var pulse int
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if p > 0 {
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pulse = util.MapRange(float64(p), 0, MaxThrottle, float64(t.zeroPulse), float64(t.maxPulse))
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} else {
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pulse = util.MapRange(float64(p), MinThrottle, 0, float64(t.minPulse), float64(t.zeroPulse))
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}
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zap.S().Debugf("set throttle to %v-> %v (%v, %v, %v, %v, %v)", p, pulse, LeftAngle, RightAngle, t.minPulse, t.maxPulse, t.zeroPulse)
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t.SetPulse(pulse)
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}
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func NewThrottle(channel, zeroPulse, minPulse, maxPulse int) *Throttle {
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t := Throttle{
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channel: channel,
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dev: device,
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zeroPulse: zeroPulse,
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minPulse: minPulse,
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maxPulse: maxPulse,
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}
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zap.S().Info("send zero pulse to calibrate ESC")
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t.SetPercentValue(0)
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return &t
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}
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