max/ev3dev-pid-linefollow
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Make motor and Sensor selection dynamic

Browse Source
This commit is contained in:
Max Känner 2023-01-29 16:08:18 +01:00
parent f730c0baf1
commit b01c8b2daf
1 changed files with 5 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
src/main.rs
View File

@ -3,11 +3,7 @@ mod display;
use buttons::SmartEv3Buttons; use buttons::SmartEv3Buttons;
use display::{draw_calibration, draw_driving, draw_finished, draw_settings, font, Parameter}; use display::{draw_calibration, draw_driving, draw_finished, draw_settings, font, Parameter};
use ev3dev_lang_rust::{ use ev3dev_lang_rust::{motors::LargeMotor, sensors::ColorSensor, Ev3Error, Ev3Result, Screen};
motors::{LargeMotor, MotorPort},
sensors::{ColorSensor, SensorPort},
Ev3Error, Ev3Result, Screen,
};
use pid::Pid; use pid::Pid;
use rand::{thread_rng, Rng}; use rand::{thread_rng, Rng};
use rusttype::Font; use rusttype::Font;
@ -19,9 +15,9 @@ use std::{
use thiserror::Error; use thiserror::Error;
fn main() -> Result<(), Box<dyn Error>> { fn main() -> Result<(), Box<dyn Error>> {
let left_motor = LargeMotor::get(MotorPort::OutB)?; let motors = LargeMotor::list()?;
let right_motor = LargeMotor::get(MotorPort::OutC)?; let [right_motor, left_motor] = &motors[..] else {println!("motors: {motors:?}"); Err("need two motors")?};
let sensor = ColorSensor::get(SensorPort::In3)?; let sensor = ColorSensor::find()?;
let mut buttons = SmartEv3Buttons::new()?; let mut buttons = SmartEv3Buttons::new()?;
let mut screen = Screen::new()?; let mut screen = Screen::new()?;
let font = font(); let font = font();
@ -42,7 +38,7 @@ fn main() -> Result<(), Box<dyn Error>> {
draw_driving(&mut screen, &font); draw_driving(&mut screen, &font);
let result = follow_line( let result = follow_line(
(&left_motor, &right_motor), (left_motor, right_motor),
&sensor, &sensor,
&mut buttons, &mut buttons,
setpoint, setpoint,