added some test actions

michaelkamprath · Sep 30, 2024 · fc1c26f · fc1c26f
1 parent cedc10a
commit fc1c26f
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Showing 3 changed files with 30 additions and 17 deletions.
diff --git a/src/driver.rs b/src/driver.rs
@@ -218,11 +218,13 @@ impl<
         // - button one will select the current function and execute it
         // - if no button is pressed for the idle wait time, return to idle state
 
-        const FUNCTIONS: [&str; 4] = [
+        const FUNCTIONS: [&str; 6] = [
             "Select Path",
             "Calibrate Gyro",
             "Heading Display",
             "Drive Straight",
+            "Turn Left",
+            "Turn Right",
         ];
         let mut function_idx: usize = 0;
         let mut last_interaction_millis = millis();
@@ -278,9 +280,35 @@ impl<
                         self.robot.set_display_to_idle();
                     }
                     3 => {
+                        write!(
+                            self.robot.clear_lcd().set_lcd_cursor(0, 0),
+                            "Driving straight",
+                        )
+                        .ok();
+                        self.delay.delay_ms(500);
                         self.robot.straight(1500, true);
                         self.robot.start_display_reset_timer();
                     }
+                    4 => {
+                        write!(
+                            self.robot.clear_lcd().set_lcd_cursor(0, 0),
+                            "Turning left   \x7F",
+                        )
+                        .ok();
+                        self.delay.delay_ms(500);
+                        self.robot.turn(90);
+                        self.robot.start_display_reset_timer();
+                    }
+                    5 => {
+                        write!(
+                            self.robot.clear_lcd().set_lcd_cursor(0, 0),
+                            "Turning right  \x7E",
+                        )
+                        .ok();
+                        self.delay.delay_ms(500);
+                        self.robot.turn(-90);
+                        self.robot.start_display_reset_timer();
+                    }
                     _ => {
                         warn!("handle_functions_menu: invalid function index");
                     }

diff --git a/src/main.rs b/src/main.rs
@@ -109,22 +109,6 @@ fn main() -> ! {
 
     // set up SPI
     #[allow(clippy::type_complexity)]
-    // let spi: rp_pico::hal::Spi<
-    //     rp_pico::hal::spi::Disabled,
-    //     SPI0,
-    //     (
-    //         rp_pico::hal::gpio::Pin<Gpio3, FunctionSpi, PullDown>,
-    //         rp_pico::hal::gpio::Pin<Gpio0, FunctionSpi, PullDown>,
-    //         rp_pico::hal::gpio::Pin<Gpio2, FunctionSpi, PullDown>,
-    //     ),
-    // > = bsp::hal::Spi::new(
-    //     pac.SPI0,
-    //     (
-    //         pins.gpio3.into_function::<gpio::FunctionSpi>(),
-    //         pins.gpio0.into_function::<gpio::FunctionSpi>(),
-    //         pins.gpio2.into_function::<gpio::FunctionSpi>(),
-    //     ),
-    // );
     let spi_mosi = pins.gpio3.into_function::<bsp::hal::gpio::FunctionSpi>();
     let spi_miso = pins.gpio0.into_function::<bsp::hal::gpio::FunctionSpi>();
     let spi_sclk = pins.gpio2.into_function::<bsp::hal::gpio::FunctionSpi>();

diff --git a/src/robot.rs b/src/robot.rs
@@ -570,6 +570,7 @@ where
         1.0
     }
 
+    /// Turns the robot by a specified angle in degrees. Positive angle is a left turn, negative angle is a right turn
     pub fn turn(&mut self, angle_degrees: i32) -> &mut Self {
         const TURN_MIN_POWER: f32 = 0.50;
         if angle_degrees.abs() < self.min_turn_angle() as i32 {