conf

Documentation

Index

• Constants
• Variables
• type Configuration
• type MessagePin

Constants

const (
	// AlarmGpioPin is the pin where the alarm is connected
	AlarmGpioPin = 183 // J18 - pin 8
	// AlarmGpioPWM is the pwm where the alarm is connected
	AlarmGpioPWM = 3

	// SwitchGpioPin is the pin where the autopilot switch is connected
	SwitchGpioPin = 46 // J19 - pin 5

	// MotorDirPin is the direction pin for the motor
	MotorDirPin = 165 // J18 - pin 2
	// MotorSleepPin is the sleep pin for the motor
	MotorSleepPin = 12 // J18 - pin 7
	// MotorStepPin is the step pin for the motor
	MotorStepPin = 182 // J17 - pin 1
	// MotorStepPwm is the pwm where the step pin of the motor is connected
	MotorStepPwm = 2

	// I2CBus of the Sin/Cos interface
	I2CBus = 6
	// SinAddress is the i2c address of the Sine DAC (MCP4725)
	SinAddress = 0x62
	// CosAddress is the i2c address of the Cosine DAC (MCP4725)
	CosAddress = 0x63
)

Variables

var Conf = loadConfiguration()

Conf contains the configuration parameters loaded at the initialization from the edisonIsThePilot.properties or defaults values

var MessageToPin = []MessagePin{
	{dashboard.NoGPSFix, 43},
	{dashboard.InvalidGPSData, 48},
	{dashboard.SpeedTooLow, 40},
	{dashboard.HeadingErrorOutOfBounds, 82},
	{dashboard.CorrectionAtLimit, 83},
}

MessageToPin contains the mapping of the dashboard messages to the LED pin

Types

type Configuration

type Configuration struct {
	Bounds                         float64 // error bound in degree
	SteeringReductionRatio         float64 // reduction ratio between the motor and the steering wheel
	MaxPIDOutputLimits             float64 // maximum pid output value (in degree)
	MinPIDOutputLimits             float64 // minimum pid output value (in degree)
	P                              float64 // Proportional coefficient
	I                              float64 // Integrative coefficient
	D                              float64 // Derivative coefficient
	N                              float64 // Derivative filter coefficient
	GpsSerialPort                  string
	NoInputMessageTimeoutInSeconds int64
	MinimumSpeedInKnots            float64
	TraceSize                      uint32
}

Configuration is the type of the configuration loaded from the config file

type MessagePin

type MessagePin struct {
	Message string
	Pin     byte
}

MessagePin is the mapping of pin to a message