Struct robotcar::car::Car

pub struct Car<ServoPwm, MAIN1, MAIN2, MAPWM, DS, DE, OLED>where
    ServoPwm: PwmPin,
    DS: DistanceSensor<DE>,{
    steering: Steering<ServoPwm>,
    motor: Motor<MAIN1, MAIN2, MAPWM>,
    front_distance_sensor: Option<DS>,
    display: Option<Display>,
    led_status_obstacle: OLED,
    current_state: CarState,
    latest_front_distance_in_mm: Option<u16>,
    last_front_distance_update: Option<TimerInstantU32<1_000_000>>,
    _distance_sensor_error: PhantomData<DE>,
}

Represents the robot car.

Fields

steering: Steering<ServoPwm>

motor: Motor<MAIN1, MAIN2, MAPWM>

front_distance_sensor: Option<DS>

display: Option<Display>

led_status_obstacle: OLED

current_state: CarState

latest_front_distance_in_mm: Option<u16>

last_front_distance_update: Option<TimerInstantU32<1_000_000>>

_distance_sensor_error: PhantomData<DE>

Needed to be able to specify the DE type parameter

Implementations

impl<ServoPwm, MAIN1, MAIN2, MAPWM, DS, DE, OLED> Car<ServoPwm, MAIN1, MAIN2, MAPWM, DS, DE, OLED>where
    ServoPwm: PwmPin<Duty = u16>,
    MAIN1: OutputPin,
    MAIN2: OutputPin,
    MAPWM: PwmPin<Duty = u16>,
    DS: DistanceSensor<DE>,
    DE: Debug,
    OLED: OutputPin,

pub fn new(
    steering: Steering<ServoPwm>,
    motor: Motor<MAIN1, MAIN2, MAPWM>,
    front_distance_sensor: Option<DS>,
    display: Option<Display>,
    led_status_obstacle: OLED
) -> Self

pub fn steer_left(&mut self)

pub fn steer_center(&mut self)

pub fn steer_right(&mut self)

pub fn drive_forward(&mut self, speed: u8) -> Result<(), Error>

pub fn drive_backwards(&mut self, speed: u8) -> Result<(), Error>

pub fn current_speed(&mut self) -> i8

Return the current speed of the motor (in percentage). Note that driving forward returns a positive number while driving backwards returns a negative number and a stopped car returns 0.

pub fn halt(&mut self)

pub fn handle_distance_sensor_interrupt(
    &mut self,
    now: TimerInstantU32<1_000_000>
) -> Result<(), DE>

pub fn validate_distance(&mut self, now: TimerInstantU32<1_000_000>)

fn halt_if_driving_forward(&mut self)

Halt in case the car is currently driving forward, otherwise do nothing. This is used in the collision avoidance to ensure that it’s still possible to drive backwards.

fn update_display(&mut self)