28 lines
656 B
Swift
28 lines
656 B
Swift
//
|
|
// File.swift
|
|
//
|
|
//
|
|
// Created by Michael Pivato on 20/5/20.
|
|
//
|
|
|
|
import Foundation
|
|
import SwiftyGPIO
|
|
|
|
|
|
|
|
func getVehicle2D() throws -> Vehicle2D {
|
|
if let value = ProcessInfo.processInfo.environment["CAR_VEHICLE"] {
|
|
switch value{
|
|
case "CAR_2D":
|
|
// Get car for rpi.
|
|
let pwms = SwiftyGPIO.hardwarePWMs(for:.RaspberryPi3)!
|
|
|
|
// Read the feature database.
|
|
return try RPiVehicle2D(withThrottlePin: Servo(forPin: (pwms[0]?[.P18])!)!, withSteeringPin:Servo(forPin: (pwms[1]?[.P19])!)!)
|
|
default:
|
|
return MockVehicle()
|
|
}
|
|
}
|
|
return MockVehicle()
|
|
}
|