Initial commit

.cargo/config.toml

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+[registries.jojo-dev]
+index = "https://git.jojodev.com/joeyahines/_cargo-index.git"

.gitignore

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+/target
+/.idea

Cargo.toml

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+[package]
+name = "roll_bot"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+structopt = "0.3.26"
+config = "0.14.0"
+rppal = "0.18.0"
+raas_types = { version = "0.0.1", registry = "jojo-dev"}
+log = "0.4.21"
+env_logger = "0.11.3"
+thiserror = "1.0.61"
+
+

Cross.toml

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+[build]
+pre-build = [
+    "apt-get --assume-yes install curl unzip",
+    "curl -LO https://github.com/protocolbuffers/protobuf/releases/download/v25.1/protoc-25.1-linux-x86_64.zip",
+    "unzip protoc-25.1-linux-x86_64.zip -d /opt/protoc",
+]
+
+[build.env]
+passthrough = ["PROTOC=/opt/protoc/bin/protoc"]

src/main.rs

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+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(())
+}

src/roll_bot.rs

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+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(())
+    }
+}