Wheels can be moved by debug

Chi-EEE · Jan 10, 2024 · 37c6a73 · 37c6a73
1 parent 11dac62
commit 37c6a73
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/app/raspberry_pi/src/car/system/CarSystem.cpp b/app/raspberry_pi/src/car/system/CarSystem.cpp
@@ -19,6 +19,7 @@ namespace car::system
 	{
 		this->messaging_system->initialize();
 		this->lidar_device->initialize();
+		this->movement_system->initialize();
 
 		this->messaging_system->speed_command_signal.connect([this](const SpeedCommand speed_command)
 			{ this->setRearWheelsSpeed(speed_command); });

diff --git a/app/raspberry_pi/src/car/system/movement/controller/CarWheelController.cxx b/app/raspberry_pi/src/car/system/movement/controller/CarWheelController.cxx
@@ -27,10 +27,14 @@ namespace car::system::movement::controller
 	static constexpr int MIN_PULSE_WIDTH = 900;
 	static constexpr int MAX_PULSE_WIDTH = 2100;
 	static constexpr int FREQUENCY = 50;
+
+	static constexpr int BUS_NUMBER = 1;
+
 	class CarWheelController : public AbstractWheelController
 	{
 	public:
 		CarWheelController() {
+			this->pwm = std::make_shared<PCA9685>();
 			this->rear_left_wheel = std::make_unique<RearWheel>(
 				this->pwm,
 				std::make_unique<TB6612>(Motor_A, PWM_A)
@@ -52,7 +56,7 @@ namespace car::system::movement::controller
 		~CarWheelController() {};
 
 		void initialize() override {
-			this->pwm->init(1, 0x40);
+			this->pwm->init(BUS_NUMBER, 0x40);
 			std::this_thread::sleep_for(std::chrono::milliseconds(100));
 			this->pwm->setPWMFreq(FREQUENCY);
 			std::this_thread::sleep_for(std::chrono::milliseconds(1000));