robocars/robocar-throttle
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

feat(brake): subscribe to ThrottleFeedback messages

Browse Source
This commit is contained in:
Cyrille Nofficial
2022-09-05 11:22:31 +02:00
parent 34c4433836
commit dd0102ff44
3 changed files with 69 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
cmd/rc-throttle/rc-throttle.go
View File

@ -16,7 +16,7 @@ const (
func main() {
var mqttBroker, username, password, clientId string
var throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic string
var throttleTopic, driveModeTopic, rcThrottleTopic, steeringTopic, throttleFeedbackTopic string
var minThrottle, maxThrottle float64
var publishPilotFrequency int
@ -38,6 +38,7 @@ func main() {
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.StringVar(&throttleFeedbackTopic, "mqtt-topic-throttle-feedback", os.Getenv("MQTT_TOPIC_THROTTLE_FEEDBACK"), "Mqtt topic where to publish throttle feedback, use MQTT_TOPIC_THROTTLE_FEEDBACK 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")