Add parameter selection
This commit is contained in:
parent
ce2919580d
commit
63534c7e05
43
Cargo.lock
generated
43
Cargo.lock
generated
@ -209,6 +209,7 @@ dependencies = [
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"imageproc",
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"paste",
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"pid",
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"rand 0.8.5",
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"rusttype",
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"thiserror",
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]
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@ -357,7 +358,7 @@ dependencies = [
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"itertools",
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"nalgebra",
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"num",
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"rand",
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"rand 0.7.3",
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"rand_distr",
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"rayon",
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"rusttype",
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@ -662,11 +663,22 @@ checksum = "6a6b1679d49b24bbfe0c803429aa1874472f50d9b363131f0e89fc356b544d03"
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dependencies = [
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"getrandom 0.1.16",
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"libc",
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"rand_chacha",
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"rand_core",
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"rand_chacha 0.2.2",
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"rand_core 0.5.1",
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"rand_hc",
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]
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[[package]]
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name = "rand"
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version = "0.8.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "34af8d1a0e25924bc5b7c43c079c942339d8f0a8b57c39049bef581b46327404"
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dependencies = [
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"libc",
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"rand_chacha 0.3.1",
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"rand_core 0.6.4",
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]
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[[package]]
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name = "rand_chacha"
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version = "0.2.2"
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@ -674,7 +686,17 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f4c8ed856279c9737206bf725bf36935d8666ead7aa69b52be55af369d193402"
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dependencies = [
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"ppv-lite86",
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"rand_core",
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"rand_core 0.5.1",
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]
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[[package]]
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name = "rand_chacha"
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version = "0.3.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e6c10a63a0fa32252be49d21e7709d4d4baf8d231c2dbce1eaa8141b9b127d88"
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dependencies = [
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"ppv-lite86",
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"rand_core 0.6.4",
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]
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[[package]]
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@ -686,13 +708,22 @@ dependencies = [
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"getrandom 0.1.16",
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]
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[[package]]
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name = "rand_core"
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version = "0.6.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
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dependencies = [
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"getrandom 0.2.8",
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]
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[[package]]
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name = "rand_distr"
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version = "0.2.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "96977acbdd3a6576fb1d27391900035bf3863d4a16422973a409b488cf29ffb2"
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dependencies = [
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"rand",
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"rand 0.7.3",
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]
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[[package]]
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@ -701,7 +732,7 @@ version = "0.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "ca3129af7b92a17112d59ad498c6f81eaf463253766b90396d39ea7a39d6613c"
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dependencies = [
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"rand_core",
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"rand_core 0.5.1",
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]
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[[package]]
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@ -11,6 +11,7 @@ rusttype = "0.9"
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paste = "1.0"
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pid = "4.0"
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thiserror = "1.0"
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rand = "0.8"
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[profile.release]
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lto = true
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@ -143,6 +143,10 @@ fn draw_setting(
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font: &Font,
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) {
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let text_scale = Scale::uniform(screen.yres() as f32 / 4.0 - 8.0);
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let value_scale = Scale {
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x: screen.xres() as f32 / 10.0,
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y: screen.yres() as f32 / 4.0 - 8.0,
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};
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let x = screen.xres() as i32 / 8 + screen.xres() as i32 * i32::from(index) / 4;
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draw_centered_text(
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screen,
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@ -156,9 +160,9 @@ fn draw_setting(
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screen,
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x,
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screen.yres() as i32 * 5 / 8 + 4,
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text_scale,
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value_scale,
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font,
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format!("{value}").as_str(),
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format!("{value:.2}").as_str(),
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);
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let top_triangle = [
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Point::new(x, screen.yres() as i32 / 2),
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115
src/main.rs
115
src/main.rs
@ -2,17 +2,17 @@ mod buttons;
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mod display;
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use buttons::SmartEv3Buttons;
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use display::{draw_calibration, draw_cycles, draw_driving, draw_finished, font};
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use display::{draw_calibration, draw_driving, draw_finished, draw_settings, font, Parameter};
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use ev3dev_lang_rust::{
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motors::{LargeMotor, MotorPort},
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sensors::{ColorSensor, SensorPort},
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Ev3Error, Ev3Result, Screen,
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};
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use pid::Pid;
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use rand::{thread_rng, Rng};
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use rusttype::Font;
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use std::{
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error::Error,
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hint,
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thread::sleep,
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time::{Duration, Instant},
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};
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@ -37,6 +37,8 @@ fn main() -> Result<(), Box<dyn Error>> {
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let white = calibrate_gray(&mut screen, &sensor, &mut buttons, "Weiß", &font)?;
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let setpoint = (black + white) / 2.0;
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let (k_p, k_i, k_d, v) = select_values(&mut screen, &mut buttons, &font);
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draw_driving(&mut screen, &font);
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let result = follow_line(
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@ -44,13 +46,13 @@ fn main() -> Result<(), Box<dyn Error>> {
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&sensor,
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&mut buttons,
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setpoint,
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(0.3, 0.0, 0.0),
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20,
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(k_p / 10.0, k_i, k_d),
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v,
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);
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left_motor.stop().and(right_motor.stop())?;
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let time = match result {
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Ok(time) => time,
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Err(LineFollowError::UserAbort) => return Ok(()),
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Err(ProgramError::UserAbort) => return Ok(()),
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e => e?,
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};
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@ -63,6 +65,103 @@ fn main() -> Result<(), Box<dyn Error>> {
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Ok(())
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}
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fn select_values(
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screen: &mut Screen,
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buttons: &mut SmartEv3Buttons,
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font: &Font,
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) -> (f32, f32, f32, i32) {
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use Parameter::{Kd, Ki, Kp, Speed};
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let mut k_p = thread_rng().gen_range(0.01..=10.0);
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let mut k_i = thread_rng().gen_range(0.01..=10.0);
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let mut k_d = thread_rng().gen_range(0.01..=10.0);
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let mut v = thread_rng().gen_range(1..=100);
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let mut selected = Kp;
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draw_settings(screen, k_p, k_i, k_d, v, selected, font);
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loop {
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buttons.process();
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if buttons.is_enter_pressed() {
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break;
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}
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if buttons.is_right_pressed() {
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selected = match selected {
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Kp => Ki,
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Ki => Kd,
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Kd => Speed,
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Speed => Kp,
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};
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}
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if buttons.is_left_pressed() {
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selected = match selected {
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Kp => Speed,
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Ki => Kp,
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Kd => Ki,
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Speed => Kd,
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};
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}
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match selected {
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Speed => {
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if buttons.is_up() {
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v = (v + 1).min(100);
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}
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if buttons.is_down() {
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v = (v - 1).max(0);
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}
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}
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p => {
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let param = match p {
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Kp => &mut k_p,
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Ki => &mut k_i,
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Kd => &mut k_d,
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Speed => unreachable!(),
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};
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if buttons.is_up() {
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*param = (*param
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+ if buttons.is_up_pressed() {
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0.01f32
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} else {
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0.1f32
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})
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.min(99.99);
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}
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if buttons.is_down() {
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*param = (*param
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- if buttons.is_down_pressed() {
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0.01f32
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} else {
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0.1f32
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})
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.max(0.0);
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}
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}
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}
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if buttons.is_left_pressed()
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|| buttons.is_right_pressed()
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|| buttons.is_up()
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|| buttons.is_down()
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{
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draw_settings(screen, k_p, k_i, k_d, v, selected, font);
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}
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if buttons.is_up_pressed() || buttons.is_down_pressed() {
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sleep(Duration::from_millis(200));
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} else {
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sleep(Duration::from_millis(10));
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}
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}
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(k_p, k_i, k_d, v)
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}
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fn increase(parameter: &mut f32) {
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let change = 0.01;
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*parameter = (*parameter + change).min(99.99);
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}
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fn decrease(parameter: &mut f32) {
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let change = 0.01;
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*parameter = (*parameter - change).max(0.0);
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}
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fn calibrate_gray(
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screen: &mut Screen,
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sensor: &ColorSensor,
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@ -81,7 +180,7 @@ fn calibrate_gray(
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}
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#[derive(Error, Debug)]
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enum LineFollowError {
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enum ProgramError {
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#[error("working with EV3 peripheral")]
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Ev3(#[from] Ev3Error),
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#[error("the user abortet the run")]
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@ -102,7 +201,7 @@ fn follow_line(
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setpoint: f32,
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(k_p, k_i, k_d): (f32, f32, f32),
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v: i32,
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) -> Result<Duration, LineFollowError> {
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) -> Result<Duration, ProgramError> {
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let mut controller = Pid::new(setpoint, f32::INFINITY);
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controller
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.p(k_p, f32::INFINITY)
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@ -140,7 +239,7 @@ fn follow_line(
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if let LineFollowState::Finish(time) = state {
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Ok(time)
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} else {
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Err(LineFollowError::UserAbort)
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Err(ProgramError::UserAbort)
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}
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}
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