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ultrasonic enable toggle

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This commit is contained in:
Andy Killorin 2025-07-19 15:59:50 -05:00
parent 6df844a410
commit 0fa63e0512
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
5 changed files with 109 additions and 72 deletions
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1
common/src/lib.rs
View file

@ -8,6 +8,7 @@ pub struct Command {
pub left: f32,
/// duty cycle, -1.0 - 1.0
pub right: f32,
pub ultrasonic_enable: bool,
}
#[derive(Serialize, Deserialize, Default, Clone)]

7
converter/Cargo.lock generated
View file

@ -2,6 +2,12 @@
# It is not intended for manual editing.
version = 4
[[package]]
name = "anyhow"
version = "1.0.98"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e16d2d3311acee920a9eb8d33b8cbc1787ce4a264e85f964c2404b969bdcd487"
[[package]]
name = "atomic-polyfill"
version = "1.0.3"
@ -61,6 +67,7 @@ dependencies = [
name = "converter"
version = "0.1.0"
dependencies = [
"anyhow",
"common",
"heapless",
"postcard",

1
converter/Cargo.toml
View file

@ -9,3 +9,4 @@ postcard = "1.1.2"
common = { path = "../common" }
heapless = "0.7.17"
serde_json = "1.0.140"
anyhow = "1.0.98"

78
converter/src/main.rs
View file

@ -5,12 +5,12 @@ use postcard::to_vec_cobs;
use heapless::Vec;
fn main() {
let mut port = serialport::new("/dev/ttyACM0", 115200)
.timeout(Duration::from_secs(1))
let mut port = serialport::new("/dev/ttyACM1", 115200)
.timeout(Duration::from_secs(1000))
.open().expect("port missing");
println!("connected over serial");
let command: Arc<Mutex<Command>> = Arc::new(Mutex::new(Command { left: 0.0, right: 0.0}));
let command: Arc<Mutex<Command>> = Arc::new(Mutex::new(Command { left: 0.0, right: 0.0, ultrasonic_enable: false}));
let telemetry: Arc<Mutex<Telemetry>> = Arc::new(Mutex::new(Telemetry { distance: f32::NAN }));
{
@ -19,10 +19,9 @@ fn main() {
std::thread::spawn(move || server(command,telemetry));
}
let reader = port.try_clone().unwrap();
let mut reader = BufReader::new(reader);
let reader = port.try_clone().unwrap();
let mut reader = BufReader::new(reader);
loop {
let command = command.lock().unwrap().clone();
let encoded: Vec<u8, 20> = to_vec_cobs(&command).unwrap();
@ -35,36 +34,59 @@ fn main() {
println!("dist: {}", telem.distance);
*telemetry.lock().unwrap() = telem;
}
sleep(Duration::from_millis(200));
}
}
fn recv_telem<T: Read>(telemetry: Arc<Mutex<Telemetry>>, mut reader: BufReader<T>) {
let mut recv_buf = std::vec::Vec::new();
loop {
let Ok(len) = reader.read_until(0, &mut recv_buf) else {continue;};
if let Ok(telem) = postcard::from_bytes_cobs::<Telemetry>(&mut recv_buf[0..len]) {
println!("dist: {}", telem.distance);
*telemetry.lock().unwrap() = telem;
}
}
}
fn server(command: Arc<Mutex<Command>>, telemetry: Arc<Mutex<Telemetry>>) {
let listener = TcpListener::bind("0.0.0.0:4242").unwrap();
while let Ok((stream, _)) = listener.accept() {
println!("connected over IP");
let writer = stream.try_clone().unwrap();
let mut writer = BufWriter::new(writer);
let mut reader = BufReader::new(stream);
let mut data_buf = std::vec::Vec::new();
let len = reader.read_until(b'\n', &mut data_buf).unwrap();
let Ok(new_command) = serde_json::from_slice(&data_buf[0..len]) else {continue;};
*command.lock().unwrap() = new_command;
println!("received");
let telem = telemetry.lock().unwrap().clone();
if telem.distance == f32::NAN {
continue;
}
serde_json::to_writer(&mut writer, &telem).unwrap();
writer.write(&[b'\n']).unwrap();
writer.flush().unwrap();
let command1 = command.clone();
let telemetry1 = telemetry.clone();
std::thread::spawn(move || {
if let Err(e) = handle_connection(command1, telemetry1, stream) {
println!("IP connection dropped: {}", e);
}
});
}
}
fn handle_connection(command: Arc<Mutex<Command>>, telemetry: Arc<Mutex<Telemetry>>, stream: std::net::TcpStream) -> anyhow::Result<()> {
let writer = stream.try_clone().unwrap();
let mut writer = BufWriter::new(writer);
let mut reader = BufReader::new(stream);
loop {
let mut data_buf = std::vec::Vec::new();
let len = reader.read_until(b'\n', &mut data_buf)?;
let Ok(new_command) = serde_json::from_slice::<Command>(&data_buf[0..len]) else {continue;};
*command.lock().unwrap() = new_command.clone();
println!("received l{} r{}", new_command.left, new_command.right);
let mut telem = telemetry.lock().unwrap().clone();
if telem.distance.is_nan() {
telem.distance = -1.0;
}
println!("sent d{}", telem.distance);
serde_json::to_writer(&mut writer, &telem).unwrap();
writer.write(&[b'\r',b'\n'])?;
writer.flush()?;
}
}

94
robot-controller/src/main.rs
View file

@ -163,58 +163,64 @@ fn main() -> ! {
update_shift_register(&mut data_pin, &mut latch_pin, &mut clock_pin, &shift_register);
// reset timer
ultrasonic_timer.tcnt1.write(|w| w.bits(0));
// send ultrasonic pulse
trig.set_high();
arduino_hal::delay_us(10);
trig.set_low();
let mut response = true;
/// 0.1s/4µs = 25,000
const SIGNAL_START_TIMEOUT: u16 = 25000;
// wait for return signal start
while echo.is_low() {
if ultrasonic_timer.tcnt1.read().bits() >= SIGNAL_START_TIMEOUT {
response = false;
break;
}
}
if response {
let remainder = ultrasonic_timer.tcnt1.read().bits();
if command.ultrasonic_enable {
// reset timer
ultrasonic_timer.tcnt1.write(|w| w.bits(0));
// Wait for the echo to get low again
while echo.is_high() {}
let counts = ultrasonic_timer.tcnt1.read().bits();
let microseconds = counts.saturating_mul(4);
// send ultrasonic pulse
trig.set_high();
arduino_hal::delay_us(10);
trig.set_low();
// inch per 148 microseconds
telem.distance = microseconds as f32 / 148.;
if microseconds == u16::MAX { telem.distance = f32::NAN };
let mut response = true;
// delay for the rest of the return signal timeout if any is left
ultrasonic_timer.tcnt1.write(|w| w.bits(SIGNAL_START_TIMEOUT.saturating_sub(remainder + counts)));
while ultrasonic_timer.tcnt1.read().bits() <= SIGNAL_START_TIMEOUT {}
/// 0.1s/4µs = 25,000
const SIGNAL_START_TIMEOUT: u16 = 25000;
// wait for return signal start
while echo.is_low() {
if ultrasonic_timer.tcnt1.read().bits() >= SIGNAL_START_TIMEOUT {
response = false;
break;
}
}
if response {
let remainder = ultrasonic_timer.tcnt1.read().bits();
ultrasonic_timer.tcnt1.write(|w| w.bits(0));
// Wait for the echo to get low again
while echo.is_high() {}
let counts = ultrasonic_timer.tcnt1.read().bits();
let microseconds = counts.saturating_mul(4);
// inch per 148 microseconds
telem.distance = microseconds as f32 / 148.;
if microseconds == u16::MAX { telem.distance = f32::NAN };
// delay for the rest of the return signal timeout if any is left
ultrasonic_timer.tcnt1.write(|w| w.bits(SIGNAL_START_TIMEOUT.saturating_sub(remainder + counts)));
while ultrasonic_timer.tcnt1.read().bits() <= SIGNAL_START_TIMEOUT {}
} else {
telem.distance = f32::NAN;
}
let mut buf = [0;20];
let encoded = postcard::to_slice_cobs(&telem, &mut buf).unwrap();
for word in encoded {
let _ = tx.write(*word);
let _ = tx.flush();
arduino_hal::delay_us(100);
}
arduino_hal::delay_ms(250);
} else {
telem.distance = f32::NAN;
}
let mut buf = [0;20];
let encoded = postcard::to_slice_cobs(&telem, &mut buf).unwrap();
for word in encoded {
let _ = tx.write(*word);
let _ = tx.write(0);
let _ = tx.flush();
arduino_hal::delay_us(100);
arduino_hal::delay_us(500);
}
arduino_hal::delay_ms(250);
}
}