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2 Commits

Author SHA1 Message Date
Max
f13ab9deb9 Automatically execute the process again on a panic 2023-02-08 22:33:09 +01:00
Max
1ad9e64340 First fastly increment the first digit, then the second 2023-02-08 22:32:27 +01:00
3 changed files with 41 additions and 4 deletions

11
Cargo.lock generated
View File

@ -205,6 +205,7 @@ name = "ev3dev-pid-linefollow"
version = "0.1.0"
dependencies = [
"ev3dev-lang-rust",
"exec",
"image",
"imageproc",
"itertools",
@ -215,6 +216,16 @@ dependencies = [
"thiserror",
]
[[package]]
name = "exec"
version = "0.3.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "886b70328cba8871bfc025858e1de4be16b1d5088f2ba50b57816f4210672615"
dependencies = [
"errno",
"libc",
]
[[package]]
name = "exr"
version = "1.5.2"

View File

@ -13,6 +13,7 @@ pid = "4.0"
thiserror = "1.0"
rand = "0.8"
itertools = "0.10"
exec = "0.3"
[profile.release]
lto = true

View File

@ -8,19 +8,30 @@ use display::{
use ev3dev_lang_rust::{
motors::LargeMotor, sensors::ColorSensor, Device, Ev3Error, Ev3Result, Screen,
};
use exec::execvp;
use itertools::Itertools;
use pid::Pid;
use rand::{thread_rng, Rng};
use rusttype::Font;
use std::{
env,
error::Error,
iter,
iter, panic,
thread::sleep,
time::{Duration, Instant},
};
use thiserror::Error;
fn main() {
while try_main().is_err() {
// This loop just restarts the program in case of an error.
// Such error may occur when a motor or sensor got disconnected.
let args = env::args().collect_vec();
panic::set_hook(Box::new(move |_| {
let err = execvp(&args[0], &args[1..]);
println!("Couldn't restart the program: {err}");
}));
while let Err(e) = try_main() {
println!("Error: {e:?}");
sleep(Duration::from_millis(10));
}
}
@ -89,10 +100,24 @@ fn select_values(
let mut k_d = thread_rng().gen_range(0.01..=10.0);
let mut v = thread_rng().gen_range(1..=100);
let mut selected = Kp;
let mut times_pressed_up = 0;
let mut times_pressed_down = 0;
draw_settings(screen, k_p, k_i, k_d, v, selected, font);
loop {
buttons.process();
if buttons.is_up_pressed() {
times_pressed_up = 0;
}
if buttons.is_down_pressed() {
times_pressed_down = 0;
}
if buttons.is_up() {
times_pressed_up += 1;
}
if buttons.is_down() {
times_pressed_down += 1;
}
if buttons.is_enter_pressed() {
break;
}
@ -130,7 +155,7 @@ fn select_values(
};
if buttons.is_up() {
*param = (*param
+ if buttons.is_up_pressed() {
+ if times_pressed_up > 10 {
0.01f32
} else {
0.1f32
@ -139,7 +164,7 @@ fn select_values(
}
if buttons.is_down() {
*param = (*param
- if buttons.is_down_pressed() {
- if times_pressed_down > 10 {
0.01f32
} else {
0.1f32