Loop

src/main.rs

@@ -37,32 +37,31 @@ fn main() -> Result<(), Box<dyn Error>> {
     let white = calibrate_gray(&mut screen, &sensor, &mut buttons, "Weiß", &font)?;
     let setpoint = (black + white) / 2.0;
 
-    let (k_p, k_i, k_d, v) = select_values(&mut screen, &mut buttons, &font);
+    loop {
+        let (k_p, k_i, k_d, v) = select_values(&mut screen, &mut buttons, &font);
 
-    draw_driving(&mut screen, &font);
+        draw_driving(&mut screen, &font);
+        let result = follow_line(
+            (&left_motor, &right_motor),
+            &sensor,
+            &mut buttons,
+            setpoint,
+            (k_p / 10.0, k_i / 100.0, k_d / 100.0),
+            v,
+        );
+        left_motor.stop().and(right_motor.stop())?;
+        let time = match result {
+            Ok(time) => time,
+            Err(ProgramError::UserAbort) => continue,
+            e => e?,
+        };
 
-    let result = follow_line(
-        (&left_motor, &right_motor),
-        &sensor,
-        &mut buttons,
-        setpoint,
-        (k_p / 10.0, k_i, k_d),
-        v,
-    );
-    left_motor.stop().and(right_motor.stop())?;
-    let time = match result {
-        Ok(time) => time,
-        Err(ProgramError::UserAbort) => return Ok(()),
-        e => e?,
-    };
-
-    buttons.process();
-    draw_finished(&mut screen, time, &font);
-    while !buttons.is_enter_pressed() {
+        draw_finished(&mut screen, time, &font);
         buttons.process();
+        while !buttons.is_enter_pressed() {
+            buttons.process();
+        }
     }
-
-    Ok(())
 }
 
 fn select_values(