Initial UI Design
This commit is contained in:
897
Cargo.lock
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897
Cargo.lock
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@@ -3,12 +3,189 @@
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version = 3
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version = 3
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dependencies = [
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"num-traits",
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]
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"custom_derive",
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]
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[[package]]
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dependencies = [
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"cfg-if",
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]
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[[package]]
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dependencies = [
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"cfg-if",
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"crossbeam-utils",
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]
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[[package]]
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name = "crossbeam-deque"
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dependencies = [
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"cfg-if",
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"crossbeam-epoch",
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"crossbeam-utils",
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]
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[[package]]
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"memoffset",
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"scopeguard",
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[[package]]
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"cfg-if",
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[[package]]
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"libc",
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"winapi",
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[[package]]
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dependencies = [
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"cc",
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"libc",
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[[package]]
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"image",
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"libc",
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@@ -24,49 +201,733 @@ dependencies = [
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]
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]
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[[package]]
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"image",
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"imageproc",
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"rusttype",
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"flume",
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"half",
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"lebe",
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"miniz_oxide",
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"smallvec",
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"threadpool",
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"pin-project",
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"spin",
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[[package]]
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"errno",
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"libc",
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"memmap",
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[[package]]
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"libc",
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[[package]]
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"crunchy",
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"libc",
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[[package]]
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"bytemuck",
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"color_quant",
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"exr",
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"gif",
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"jpeg-decoder",
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"num-rational",
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"num-traits",
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"png",
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"scoped_threadpool",
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"tiff",
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version = "0.2.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "rayon"
|
||||||
|
version = "1.6.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "6db3a213adf02b3bcfd2d3846bb41cb22857d131789e01df434fb7e7bc0759b7"
|
||||||
|
dependencies = [
|
||||||
|
"either",
|
||||||
|
"rayon-core",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "rayon-core"
|
||||||
|
version = "1.10.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "cac410af5d00ab6884528b4ab69d1e8e146e8d471201800fa1b4524126de6ad3"
|
||||||
|
dependencies = [
|
||||||
|
"crossbeam-channel",
|
||||||
|
"crossbeam-deque",
|
||||||
|
"crossbeam-utils",
|
||||||
|
"num_cpus",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "rusttype"
|
||||||
|
version = "0.9.3"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "3ff8374aa04134254b7995b63ad3dc41c7f7236f69528b28553da7d72efaa967"
|
||||||
|
dependencies = [
|
||||||
|
"ab_glyph_rasterizer",
|
||||||
|
"owned_ttf_parser",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "safe_arch"
|
||||||
|
version = "0.6.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "794821e4ccb0d9f979512f9c1973480123f9bd62a90d74ab0f9426fcf8f4a529"
|
||||||
|
dependencies = [
|
||||||
|
"bytemuck",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "scoped_threadpool"
|
||||||
|
version = "0.1.9"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "1d51f5df5af43ab3f1360b429fa5e0152ac5ce8c0bd6485cae490332e96846a8"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "scopeguard"
|
||||||
|
version = "1.1.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "simba"
|
||||||
|
version = "0.7.3"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "2f3fd720c48c53cace224ae62bef1bbff363a70c68c4802a78b5cc6159618176"
|
||||||
|
dependencies = [
|
||||||
|
"approx",
|
||||||
|
"num-complex",
|
||||||
|
"num-traits",
|
||||||
|
"paste",
|
||||||
|
"wide",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "smallvec"
|
||||||
|
version = "1.10.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "a507befe795404456341dfab10cef66ead4c041f62b8b11bbb92bffe5d0953e0"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "spin"
|
||||||
|
version = "0.9.4"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "7f6002a767bff9e83f8eeecf883ecb8011875a21ae8da43bffb817a57e78cc09"
|
||||||
|
dependencies = [
|
||||||
|
"lock_api",
|
||||||
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "syn"
|
name = "syn"
|
||||||
version = "1.0.86"
|
version = "1.0.107"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "8a65b3f4ffa0092e9887669db0eae07941f023991ab58ea44da8fe8e2d511c6b"
|
checksum = "1f4064b5b16e03ae50984a5a8ed5d4f8803e6bc1fd170a3cda91a1be4b18e3f5"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"proc-macro2",
|
"proc-macro2",
|
||||||
"quote",
|
"quote",
|
||||||
"unicode-xid",
|
"unicode-ident",
|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "unicode-xid"
|
name = "threadpool"
|
||||||
version = "0.2.2"
|
version = "1.8.1"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "8ccb82d61f80a663efe1f787a51b16b5a51e3314d6ac365b08639f52387b33f3"
|
checksum = "d050e60b33d41c19108b32cea32164033a9013fe3b46cbd4457559bfbf77afaa"
|
||||||
|
dependencies = [
|
||||||
|
"num_cpus",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "tiff"
|
||||||
|
version = "0.8.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "7449334f9ff2baf290d55d73983a7d6fa15e01198faef72af07e2a8db851e471"
|
||||||
|
dependencies = [
|
||||||
|
"flate2",
|
||||||
|
"jpeg-decoder",
|
||||||
|
"weezl",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "ttf-parser"
|
||||||
|
version = "0.15.2"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "7b3e06c9b9d80ed6b745c7159c40b311ad2916abb34a49e9be2653b90db0d8dd"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "typenum"
|
||||||
|
version = "1.16.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "497961ef93d974e23eb6f433eb5fe1b7930b659f06d12dec6fc44a8f554c0bba"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "unicode-ident"
|
||||||
|
version = "1.0.6"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "84a22b9f218b40614adcb3f4ff08b703773ad44fa9423e4e0d346d5db86e4ebc"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "wasi"
|
||||||
|
version = "0.9.0+wasi-snapshot-preview1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "cccddf32554fecc6acb585f82a32a72e28b48f8c4c1883ddfeeeaa96f7d8e519"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "wasi"
|
||||||
|
version = "0.11.0+wasi-snapshot-preview1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "wasm-bindgen"
|
||||||
|
version = "0.2.83"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "eaf9f5aceeec8be17c128b2e93e031fb8a4d469bb9c4ae2d7dc1888b26887268"
|
||||||
|
dependencies = [
|
||||||
|
"cfg-if",
|
||||||
|
"wasm-bindgen-macro",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "wasm-bindgen-backend"
|
||||||
|
version = "0.2.83"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "4c8ffb332579b0557b52d268b91feab8df3615f265d5270fec2a8c95b17c1142"
|
||||||
|
dependencies = [
|
||||||
|
"bumpalo",
|
||||||
|
"log",
|
||||||
|
"once_cell",
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"syn",
|
||||||
|
"wasm-bindgen-shared",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "wasm-bindgen-macro"
|
||||||
|
version = "0.2.83"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "052be0f94026e6cbc75cdefc9bae13fd6052cdcaf532fa6c45e7ae33a1e6c810"
|
||||||
|
dependencies = [
|
||||||
|
"quote",
|
||||||
|
"wasm-bindgen-macro-support",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "wasm-bindgen-macro-support"
|
||||||
|
version = "0.2.83"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "07bc0c051dc5f23e307b13285f9d75df86bfdf816c5721e573dec1f9b8aa193c"
|
||||||
|
dependencies = [
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"syn",
|
||||||
|
"wasm-bindgen-backend",
|
||||||
|
"wasm-bindgen-shared",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "wasm-bindgen-shared"
|
||||||
|
version = "0.2.83"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "1c38c045535d93ec4f0b4defec448e4291638ee608530863b1e2ba115d4fff7f"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "weezl"
|
||||||
|
version = "0.1.7"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "9193164d4de03a926d909d3bc7c30543cecb35400c02114792c2cae20d5e2dbb"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "wide"
|
||||||
|
version = "0.7.5"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "ae41ecad2489a1655c8ef8489444b0b113c0a0c795944a3572a0931cf7d2525c"
|
||||||
|
dependencies = [
|
||||||
|
"bytemuck",
|
||||||
|
"safe_arch",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "winapi"
|
||||||
|
version = "0.3.9"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "5c839a674fcd7a98952e593242ea400abe93992746761e38641405d28b00f419"
|
||||||
|
dependencies = [
|
||||||
|
"winapi-i686-pc-windows-gnu",
|
||||||
|
"winapi-x86_64-pc-windows-gnu",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "winapi-i686-pc-windows-gnu"
|
||||||
|
version = "0.4.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "winapi-x86_64-pc-windows-gnu"
|
||||||
|
version = "0.4.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
|
||||||
|
|||||||
@@ -1,10 +1,13 @@
|
|||||||
[package]
|
[package]
|
||||||
name = "ev3dev-lang-rust-template"
|
name = "ev3dev-pid-linefollow"
|
||||||
version = "0.1.0"
|
version = "0.1.0"
|
||||||
edition = "2021"
|
edition = "2021"
|
||||||
|
|
||||||
[dependencies]
|
[dependencies]
|
||||||
ev3dev-lang-rust = "0.12.0"
|
ev3dev-lang-rust = { version = "0.12.0", features = ["screen"] }
|
||||||
|
image = "0.24"
|
||||||
|
imageproc = "0.23"
|
||||||
|
rusttype = "0.9"
|
||||||
|
|
||||||
[profile.release]
|
[profile.release]
|
||||||
lto = true
|
lto = true
|
||||||
|
|||||||
BIN
fonts/RobotoMono-Regular.ttf
Normal file
BIN
fonts/RobotoMono-Regular.ttf
Normal file
Binary file not shown.
92
src/main.rs
92
src/main.rs
@@ -1,28 +1,82 @@
|
|||||||
extern crate ev3dev_lang_rust;
|
use ev3dev_lang_rust::{
|
||||||
|
motors::{LargeMotor, MotorPort},
|
||||||
use ev3dev_lang_rust::Ev3Result;
|
sensors::{ColorSensor, SensorPort},
|
||||||
use ev3dev_lang_rust::motors::{LargeMotor, MotorPort};
|
Ev3Button, Ev3Result, Screen,
|
||||||
use ev3dev_lang_rust::sensors::ColorSensor;
|
};
|
||||||
|
use image::{Rgb, RgbImage};
|
||||||
|
use imageproc::{
|
||||||
|
drawing::{draw_hollow_rect_mut, draw_text_mut},
|
||||||
|
rect::Rect,
|
||||||
|
};
|
||||||
|
use rusttype::{Font, Scale};
|
||||||
|
|
||||||
fn main() -> Ev3Result<()> {
|
fn main() -> Ev3Result<()> {
|
||||||
|
let left_motor = LargeMotor::get(MotorPort::OutB)?;
|
||||||
|
let right_motor = LargeMotor::get(MotorPort::OutC)?;
|
||||||
|
|
||||||
// Get large motor on port outA.
|
let res = mainloop(&left_motor, &right_motor);
|
||||||
let large_motor = LargeMotor::get(MotorPort::OutA)?;
|
|
||||||
|
|
||||||
// Set command "run-direct".
|
// Make sure the motors stop
|
||||||
large_motor.run_direct()?;
|
left_motor.stop().and(right_motor.stop())?;
|
||||||
|
res
|
||||||
|
}
|
||||||
|
|
||||||
// Run motor.
|
fn mainloop(left_motor: &LargeMotor, right_motor: &LargeMotor) -> Ev3Result<()> {
|
||||||
large_motor.set_duty_cycle_sp(50)?;
|
let left_sensor = ColorSensor::get(SensorPort::In2)?;
|
||||||
|
let right_sensor = ColorSensor::get(SensorPort::In3)?;
|
||||||
|
left_sensor.set_mode_rgb_raw()?;
|
||||||
|
right_sensor.set_mode_rgb_raw()?;
|
||||||
|
|
||||||
// Find color sensor. Always returns the first recognized one.
|
let buttons = Ev3Button::new()?;
|
||||||
let color_sensor = ColorSensor::find()?;
|
println!("waiting for button press");
|
||||||
|
while !buttons.is_enter() {
|
||||||
// Switch to rgb mode.
|
draw_ui(1.0, 0.3, 0.1, 50.0)?;
|
||||||
color_sensor.set_mode_rgb_raw()?;
|
buttons.process();
|
||||||
|
}
|
||||||
// Get current rgb color tuple.
|
println!("button pressed");
|
||||||
println!("Current rgb color: {:?}", color_sensor.get_rgb()?);
|
|
||||||
|
|
||||||
|
left_motor.set_polarity("inversed")?;
|
||||||
|
right_motor.set_polarity("inversed")?;
|
||||||
Ok(())
|
Ok(())
|
||||||
}
|
}
|
||||||
|
|
||||||
|
fn draw_ui(kp: f32, ki: f32, kd: f32, speed: f32) -> Ev3Result<()> {
|
||||||
|
const BACKGROUND: Rgb<u8> = Rgb([255; 3]);
|
||||||
|
const FOREGROUND: Rgb<u8> = Rgb([0; 3]);
|
||||||
|
let mut screen = Screen::new()?;
|
||||||
|
let center = screen.xres() / 2;
|
||||||
|
let quater = screen.yres() / 4;
|
||||||
|
screen.image.fill(BACKGROUND.0[0]);
|
||||||
|
let input_field_width = center;
|
||||||
|
let input_field_height = quater - 4;
|
||||||
|
let input_field_x = (center - 2).try_into().unwrap();
|
||||||
|
for i in 0..4 {
|
||||||
|
draw_hollow_rect_mut(
|
||||||
|
&mut screen.image,
|
||||||
|
Rect::at(input_field_x, (i * quater + 2).try_into().unwrap())
|
||||||
|
.of_size(input_field_width, input_field_height),
|
||||||
|
FOREGROUND,
|
||||||
|
);
|
||||||
|
}
|
||||||
|
draw_value(kp, &mut screen.image, center, quater, 0);
|
||||||
|
draw_value(ki, &mut screen.image, center, quater, 1);
|
||||||
|
draw_value(kd, &mut screen.image, center, quater, 2);
|
||||||
|
draw_value(speed, &mut screen.image, center, quater, 3);
|
||||||
|
screen.update();
|
||||||
|
Ok(())
|
||||||
|
}
|
||||||
|
|
||||||
|
fn draw_value(value: f32, canvas: &mut RgbImage, center: u32, quater: u32, index: u8) {
|
||||||
|
const FOREGROUND: Rgb<u8> = Rgb([0; 3]);
|
||||||
|
const FONT_DATA: &[u8] = include_bytes!("../fonts/RobotoMono-Regular.ttf");
|
||||||
|
let font = Font::try_from_bytes(FONT_DATA).unwrap();
|
||||||
|
draw_text_mut(
|
||||||
|
canvas,
|
||||||
|
FOREGROUND,
|
||||||
|
center.try_into().unwrap(),
|
||||||
|
i32::from(index) * i32::try_from(quater).unwrap() + 4,
|
||||||
|
Scale::uniform((quater - 8) as f32),
|
||||||
|
&font,
|
||||||
|
format!("{value:2.2}").as_str(),
|
||||||
|
);
|
||||||
|
}
|
||||||
|
|||||||
Reference in New Issue
Block a user