robocars/robocar-throttle
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feat: adapt throttle from steering

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This commit is contained in:
Cyrille Nofficial
2022-09-05 16:44:02 +02:00
committed by Cyrille Nofficial
parent c724c1170a
commit d9b0dbb07a
4 changed files with 317 additions and 104 deletions
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9
cmd/rc-throttle/rc-throttle.go
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@ -16,8 +16,9 @@ const (
func main() {
var mqttBroker, username, password, clientId string
var throttleTopic, driveModeTopic, rcThrottleTopic string
var throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic string
var minThrottle, maxThrottle float64
var publishPilotFrequency int
err := cli.SetFloat64DefaultValueFromEnv(&minThrottle, "THROTTLE_MIN", DefaultThrottleMin)
if err != nil {
@ -36,8 +37,12 @@ func main() {
flag.StringVar(&throttleTopic, "mqtt-topic-throttle", os.Getenv("MQTT_TOPIC_THROTTLE"), "Mqtt topic to publish throttle result, use MQTT_TOPIC_THROTTLE if args not set")
flag.StringVar(&driveModeTopic, "mqtt-topic-drive-mode", os.Getenv("MQTT_TOPIC_DRIVE_MODE"), "Mqtt topic that contains DriveMode value, use MQTT_TOPIC_DRIVE_MODE if args not set")
flag.StringVar(&rcThrottleTopic, "mqtt-topic-rc-throttle", os.Getenv("MQTT_TOPIC_RC_THROTTLE"), "Mqtt topic that contains RC Throttle value, use MQTT_TOPIC_RC_THROTTLE if args not set")
flag.StringVar(&steeringTopic, "mqtt-topic-steering", os.Getenv("MQTT_TOPIC_STEERING"), "Mqtt topic that contains steering value, use MQTT_TOPIC_STEERING if args not set")
flag.Float64Var(&minThrottle, "throttle-min", minThrottle, "Minimum throttle value, use THROTTLE_MIN if args not set")
flag.Float64Var(&maxThrottle, "throttle-max", maxThrottle, "Minimum throttle value, use THROTTLE_MAX if args not set")
flag.IntVar(&publishPilotFrequency, "update-pwm-frequency", 2, "Number of throttle event to publish when pilot mode is enabled")
logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
flag.Parse()
@ -65,7 +70,7 @@ func main() {
}
defer client.Disconnect(50)
p := throttle.New(client, throttleTopic, driveModeTopic, rcThrottleTopic, float32(minThrottle), float32(maxThrottle), 2)
p := throttle.New(client, throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, float32(minThrottle), float32(maxThrottle), 2)
defer p.Stop()
cli.HandleExit(p)