robocars/robocar-throttle
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feat: add accelation factor args

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This commit is contained in:
Cyrille Nofficial
2024-01-15 19:18:36 +01:00
parent 5eac26a738
commit 36efa2bef0
3 changed files with 76 additions and 13 deletions
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5
cmd/rc-throttle/rc-throttle.go
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@ -24,6 +24,7 @@ func main() {
var publishPilotFrequency int
var brakeConfig string
var enableBrake bool
var acceleratorFactor float64
var enableSpeedZone bool
var enableCustomSteeringProcessor bool
var configFileSteeringProcessor string
@ -58,6 +59,7 @@ func main() {
flag.BoolVar(&enableBrake, "enable-brake-feature", false, "Enable brake to slow car on throttle changes")
flag.StringVar(&brakeConfig, "brake-configuration", "", "Json file to use to configure brake adaptation when --enable-brake is `true`")
flag.Float64Var(&acceleratorFactor, "accelerator-factor", 1.0, "Accelerator factor when --enable-bake is 'true'")
flag.BoolVar(&enableCustomSteeringProcessor, "enable-custom-steering-processor", false, "Enable custom steering processor to estimate throttle")
flag.StringVar(&configFileSteeringProcessor, "custom-steering-processor-config", "", "Path to json config to parameter custom steering processor")
@ -100,6 +102,7 @@ func main() {
zap.S().Infof("Max throttle : %v", maxThrottle)
zap.S().Infof("Publish frequency : %vHz", publishPilotFrequency)
zap.S().Infof("Brake enabled : %v", enableBrake)
zap.S().Infof("Accelerator factor : %v", acceleratorFactor)
zap.S().Infof("CustomSteeringProcessor enabled: %v", enableCustomSteeringProcessor)
zap.S().Infof("SpeedZone enabled : %v", enableSpeedZone)
zap.S().Infof("SpeedZone slow throttle : %v", slowZoneThrottle)
@ -116,7 +119,7 @@ func main() {
var brakeCtrl brake.Controller
if enableBrake {
brakeCtrl = brake.NewCustomControllerWithJsonConfig(brakeConfig)
brakeCtrl = brake.NewCustomControllerWithJsonConfigAndAcceleratorFactor(brakeConfig, acceleratorFactor)
} else {
brakeCtrl = &brake.DisabledController{}
}