updating and housekeeping

.cargo/config

@@ -3,6 +3,7 @@ target = "armv5te-unknown-linux-musleabi"
 
 [target.armv5te-unknown-linux-musleabi]
 linker = "rust-lld"
+runner = "./upload.sh"
 
 [target.armv5te-unknown-linux-gnueabi]
 linker = "/usr/bin/arm-linux-gnueabi-gcc"

Cargo.lock

@@ -179,9 +179,9 @@ dependencies = [
 
 [[package]]
 name = "ev3dev-lang-rust"
-version = "0.12.1"
+version = "0.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d275b47949d28dbb58753369e37b4fae3b0643db685a2673ae189ad3cf286862"
+checksum = "029332714b8e1658454779f5dba942de0f2d408e21f63cdc794b13792eca33ee"
 dependencies = [
  "ev3dev-lang-rust-derive",
  "framebuffer",
@@ -202,12 +202,13 @@ dependencies = [
 
 [[package]]
 name = "ev3dev-pid-linefollow"
-version = "0.1.0"
+version = "1.0.0"
 dependencies = [
  "ev3dev-lang-rust",
+ "exec",
  "image",
  "imageproc",
- "itertools",
+ "itertools 0.12.0",
  "paste",
  "pid",
  "rand 0.8.5",
@@ -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"
@@ -356,7 +367,7 @@ dependencies = [
  "approx",
  "conv",
  "image",
- "itertools",
+ "itertools 0.10.5",
  "nalgebra",
  "num",
  "rand 0.7.3",
@@ -374,6 +385,15 @@ dependencies = [
  "either",
 ]
 
+[[package]]
+name = "itertools"
+version = "0.12.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "25db6b064527c5d482d0423354fcd07a89a2dfe07b67892e62411946db7f07b0"
+dependencies = [
+ "either",
+]
+
 [[package]]
 name = "jpeg-decoder"
 version = "0.3.0"

Cargo.toml

@@ -1,10 +1,10 @@
 [package]
 name = "ev3dev-pid-linefollow"
-version = "0.1.0"
+version = "1.0.0"
 edition = "2021"
 
 [dependencies]
-ev3dev-lang-rust = { version = "0.12.0", features = ["screen"] }
+ev3dev-lang-rust = { version = "0.13.0", features = ["screen"] }
 image = "0.24"
 imageproc = "0.23"
 rusttype = "0.9"
@@ -12,8 +12,11 @@ paste = "1.0"
 pid = "4.0"
 thiserror = "1.0"
 rand = "0.8"
-itertools = "0.10"
+itertools = "0.12"
+exec = "0.3"
 
 [profile.release]
+opt-level = "z"
 lto = true
+codegen-units = 1
 strip = "debuginfo"

src/buttons.rs

@@ -1,4 +1,4 @@
-use ev3dev_lang_rust::Ev3Button;
+use ev3dev_lang_rust::Button;
 use ev3dev_lang_rust::Ev3Result;
 use paste::paste;
 
@@ -7,7 +7,7 @@ macro_rules! button_impl {
         paste! {
 
             pub struct SmartEv3Buttons {
-                buttons: Ev3Button,
+                buttons: Button,
                 $(
                     [<last_ $name>]: bool,
                 )*
@@ -15,7 +15,7 @@ macro_rules! button_impl {
 
             impl SmartEv3Buttons {
                 pub fn new() -> Ev3Result<Self> {
-                    let buttons = Ev3Button::new()?;
+                    let buttons = Button::new()?;
                     buttons.process();
                     $(
                         let [<last_ $name>] = buttons.[<is_ $name>]();

src/main.rs

@@ -8,19 +8,29 @@ 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));
     }
 }
@@ -40,8 +50,8 @@ fn try_main() -> Result<(), Box<dyn Error>> {
     })?;
     let mut buttons = SmartEv3Buttons::new()?;
 
-    left_motor.set_polarity(LargeMotor::POLARITY_INVERSED)?;
+    left_motor.set_polarity(LargeMotor::POLARITY_NORMAL)?;
-    right_motor.set_polarity(LargeMotor::POLARITY_INVERSED)?;
+    right_motor.set_polarity(LargeMotor::POLARITY_NORMAL)?;
     left_motor.set_stop_action(LargeMotor::STOP_ACTION_BRAKE)?;
     right_motor.set_stop_action(LargeMotor::STOP_ACTION_BRAKE)?;
 
@@ -60,7 +70,7 @@ fn try_main() -> Result<(), Box<dyn Error>> {
             &sensor,
             &mut buttons,
             setpoint,
-            (k_p / 10.0, k_i / 10000.0, k_d / 10000.0),
+            (k_p / 5.0, k_i / 5000.0, k_d * 10.0),
             v,
         );
         left_motor.stop().and(right_motor.stop())?;
@@ -84,15 +94,29 @@ fn select_values(
     font: &Font,
 ) -> (f32, f32, f32, i32) {
     use Parameter::{Kd, Ki, Kp, Speed};
-    let mut k_p = thread_rng().gen_range(0.01..=10.0);
+    let mut k_p = 0.0; //thread_rng().gen_range(0.01..=10.0);
-    let mut k_i = thread_rng().gen_range(0.01..=10.0);
+    let mut k_i = 0.0; //thread_rng().gen_range(0.01..=10.0);
-    let mut k_d = thread_rng().gen_range(0.01..=10.0);
+    let mut k_d = 0.0; //thread_rng().gen_range(0.01..=10.0);
-    let mut v = thread_rng().gen_range(1..=100);
+    let mut v = 0; //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;
         }
@@ -130,19 +154,19 @@ fn select_values(
                 };
                 if buttons.is_up() {
                     *param = (*param
-                        + if buttons.is_up_pressed() {
+                        + if times_pressed_up > 10 {
-                            0.01f32
-                        } else {
                             0.1f32
+                        } else {
+                            0.01f32
                         })
                     .min(99.99);
                 }
                 if buttons.is_down() {
                     *param = (*param
-                        - if buttons.is_down_pressed() {
+                        - if times_pressed_down > 10 {
-                            0.01f32
-                        } else {
                             0.1f32
+                        } else {
+                            0.01f32
                         })
                     .max(0.0);
                 }
@@ -206,10 +230,7 @@ fn follow_line(
     v: i32,
 ) -> Result<Duration, ProgramError> {
     let mut controller = Pid::new(setpoint, 200.0);
-    controller
+    controller.p(k_p, 200.0).i(k_i, 200.0).d(k_d, 200.0);
-        .p(k_p, f32::INFINITY)
-        .i(k_i, f32::INFINITY)
-        .d(k_d, f32::INFINITY);
     left.set_duty_cycle_sp(0)?;
     right.set_duty_cycle_sp(0)?;
     buttons.process();
@@ -228,7 +249,9 @@ fn follow_line(
         let red = is_red(color);
         match state {
             LineFollowState::PreStart if red => state = LineFollowState::Start(Instant::now()),
-            LineFollowState::Start(start) if !red => state = LineFollowState::Run(start),
+            LineFollowState::Start(start) if !red && start.elapsed().as_secs() > 10 => {
+                state = LineFollowState::Run(start);
+            }
             LineFollowState::Run(start) if red => state = LineFollowState::Finish(start.elapsed()),
             _ => (),
         }

upload.sh

@@ -1,2 +1,2 @@
 #!/bin/sh
-cargo build --release && scp target/armv5te-unknown-linux-musleabi/release/ev3dev-pid-linefollow robot@ev3dev:/home/robot/
+scp "$1" robot@ev3dev:/home/robot/