robokit 0.3.0

Build custom firmware for simple robotic automation
Documentation 
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#![no_std]

//! # robokit
//!
//! `robokit` is a toolkit to build custom firmware for simple robotic automation.

extern crate alloc;

pub mod actuators;
pub mod error;
pub mod modbus;
pub mod robot;
pub mod runner;
pub mod scheduler;
pub mod sensors;
pub mod timer;
pub mod util;

pub use paste::paste;

pub use crate::actuators::axis::{AxisAction, AxisDevice, AxisError, AxisLimitSide};
pub use crate::actuators::led::{LedAction, LedDevice, LedError};
pub use crate::actuators::spindle::{
    SpindleAction, SpindleDevice, SpindleDriverJmcHsv57, SpindleError, SpindleStatus,
};
pub use crate::actuators::{Actuator, ActuatorSet, EmptyActuatorSet};
pub use crate::robot::{Robot, RobotBuilder};
pub use crate::runner::Command;
pub use crate::sensors::switch::{
    SwitchActiveHigh, SwitchActiveLow, SwitchDevice, SwitchError, SwitchStatus, SwitchUpdate,
};
pub use crate::sensors::Sensor;
pub use crate::timer::{SubTimer, SubTimerError, SuperTimer};

#[cfg(test)]
mod unit_tests {
    use core::assert_eq;

    use super::util;

    #[test]
    fn i16_to_u16() {
        assert_eq!(util::i16_to_u16(0), 0);
        assert_eq!(util::i16_to_u16(1), 1);
        assert_eq!(util::i16_to_u16(2), 2);
        assert_eq!(util::i16_to_u16(32767), 32767);
        assert_eq!(util::i16_to_u16(-1), 65535);
        assert_eq!(util::i16_to_u16(-2), 65534);
        assert_eq!(util::i16_to_u16(-32768), 32768);
    }

    #[test]
    fn u16_to_i16() {
        assert_eq!(util::u16_to_i16(0), 0);
        assert_eq!(util::u16_to_i16(1), 1);
        assert_eq!(util::u16_to_i16(2), 2);
        assert_eq!(util::u16_to_i16(32767), 32767);
        assert_eq!(util::u16_to_i16(65535), -1);
        assert_eq!(util::u16_to_i16(65534), -2);
        assert_eq!(util::u16_to_i16(32768), -32768);
    }
}