Merge branch 'main' into embedded-hal-upgrade

src/main.rs

@@ -32,6 +32,8 @@ use driver::Driver;
 use system::millis::init_millis;
 extern crate alloc;
 
+
+use embedded_alloc::TlsfHeap as Heap;
 #[global_allocator]
 static HEAP: Heap = Heap::empty();
 

src/robot.rs

@@ -365,6 +365,12 @@ where
         cortex_m::interrupt::free(|cs| RIGHT_WHEEL_COUNTER.borrow(cs).get())
     }
 
+    /// Returns a duty value normalized to the max duty of the motor.
+    /// The duty is clamped to the range [0, 1].
+    fn noramlize_duty(&self, duty: f32) -> u16 {
+        (duty.clamp(0.0, 1.0) * self.motors.enable_pin_a().get_max_duty() as f32) as u16
+    }
+
     /// returns true if the button 1 is newly pressed
     pub fn button1_pressed(&mut self) -> bool {
         self.button1.is_newly_pressed()

src/system/data.rs

@@ -66,8 +66,8 @@ where
     ///
     /// * `f` - The `defmt::Formatter` object that the graph should be printed to.
     /// * `value` - A function that gets called on each row in the data table to determine the value from that row to plot.
-    ///   This function must take a reference to the row type and return an `i32`. The mapping of the desired
-    ///   row value to the `i32` is for display purposes.
+    ///             This function must take a reference to the row type and return an `i32`. The mapping of the desired
+    ///             row value to the `i32` is for display purposes.
     pub fn plot(&self, f: &mut defmt::Formatter<'_>, value: fn(&T) -> i32) {
         // first we need to scan through the data to find the range of
         // values that we need to plot