From c34d5dfa9aaa01186c4fbeba055a530058139fbf Mon Sep 17 00:00:00 2001
From: Joey Hines <joey@ahines.net>
Date: Sun, 26 May 2024 15:44:41 -0600
Subject: [PATCH] Initial commit

---
 .cargo/config.toml |    2 +
 .gitignore         |    2 +
 Cargo.lock         | 1113 ++++++++++++++++++++++++++++++++++++++++++++
 Cargo.toml         |   17 +
 Cross.toml         |    9 +
 src/main.rs        |   43 ++
 src/roll_bot.rs    |   47 ++
 7 files changed, 1233 insertions(+)
 create mode 100644 .cargo/config.toml
 create mode 100644 .gitignore
 create mode 100644 Cargo.lock
 create mode 100644 Cargo.toml
 create mode 100644 Cross.toml
 create mode 100644 src/main.rs
 create mode 100644 src/roll_bot.rs

diff --git a/.cargo/config.toml b/.cargo/config.toml
new file mode 100644
index 0000000..6629c6e
--- /dev/null
+++ b/.cargo/config.toml
@@ -0,0 +1,2 @@
+[registries.jojo-dev]
+index = "https://git.jojodev.com/joeyahines/_cargo-index.git"
\ No newline at end of file
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..d81f12e
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,2 @@
+/target
+/.idea
diff --git a/Cargo.lock b/Cargo.lock
new file mode 100644
index 0000000..fc988c2
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diff --git a/Cargo.toml b/Cargo.toml
new file mode 100644
index 0000000..a38a18e
--- /dev/null
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diff --git a/Cross.toml b/Cross.toml
new file mode 100644
index 0000000..fb9a6a7
--- /dev/null
+++ b/Cross.toml
@@ -0,0 +1,9 @@
+[build]
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\ No newline at end of file
diff --git a/src/main.rs b/src/main.rs
new file mode 100644
index 0000000..61da131
--- /dev/null
+++ b/src/main.rs
@@ -0,0 +1,43 @@
+mod roll_bot;
+
+use structopt::StructOpt;
+
+use std::error::Error;
+use std::time::Duration;
+use log::info;
+
+use crate::roll_bot::RollBot;
+use rppal::pwm::{Channel, Polarity, Pwm};
+
+const PERIOD_MS: u64 = 20;
+const PULSE_MIN_US: u64 = 1000;
+const PULSE_NEUTRAL_US: u64 = 1500;
+const PULSE_MAX_US: u64 = 2000;
+
+fn main() -> Result<(), Box<dyn Error>> {
+    env_logger::init();
+
+    info!("Initializing PWM");
+    let pwm = Pwm::with_period(
+        Channel::Pwm0,
+        Duration::from_millis(PERIOD_MS),
+        Duration::from_micros(PULSE_MAX_US),
+        Polarity::Normal,
+        true,
+    )?;
+
+    info!("Initializing Roll Bot");
+    let roll_bot = RollBot {
+        pwm,
+        move_time: Duration::from_millis(1000),
+    };
+
+    roll_bot.set_pwm_output(Duration::from_micros(PULSE_MIN_US))?;
+
+    loop {
+        roll_bot.roll(5)?;
+        std::thread::sleep(Duration::from_millis(1000));
+    }
+
+    Ok(())
+}
diff --git a/src/roll_bot.rs b/src/roll_bot.rs
new file mode 100644
index 0000000..4f471fd
--- /dev/null
+++ b/src/roll_bot.rs
@@ -0,0 +1,47 @@
+use crate::{PULSE_MAX_US, PULSE_MIN_US, PULSE_NEUTRAL_US};
+use log::info;
+use rppal::pwm::Pwm;
+use std::thread;
+use std::time::Duration;
+use thiserror::Error;
+
+#[derive(Error, Debug)]
+pub enum Error {
+    #[error("PWM error")]
+    PWMError(#[from] rppal::pwm::Error),
+}
+
+pub struct RollBot {
+    pub pwm: Pwm,
+    pub move_time: Duration,
+}
+
+impl RollBot {
+    pub fn set_pwm_output(&self, pulse: Duration) -> Result<(), Error> {
+        info!("Going to {:?}", pulse);
+        self.pwm
+            .set_pulse_width(pulse)?;
+
+        Ok(())
+    }
+
+    pub fn roll(&self, tumble_times: u32) -> Result<(), Error> {
+        for tumble in 1..=tumble_times {
+            info!("Doing Tumble {}", tumble);
+
+            for step in (PULSE_MIN_US..=PULSE_MAX_US).step_by(1000) {
+                self.set_pwm_output(Duration::from_micros(step))?;
+                thread::sleep(self.move_time);
+            }
+
+            for step in (PULSE_MIN_US..=PULSE_MAX_US).rev().step_by(1000) {
+                self.set_pwm_output(Duration::from_micros(step))?;
+                thread::sleep(self.move_time);
+            }
+        }
+
+        info!("Roll complete!");
+
+        Ok(())
+    }
+}