ev3_dc/funcs/
mod.rs

1//! Command generation function.
2//! Not all command will be here, only some of them.
3//!
4//! Any functions that require [`Command`], will return (`Vec<u8>`, `Vec<`[`DataType`]`>`)
5
6use crate::{ encode, Command, DataType, Encoding::*, ValError };
7use crate::utils::ChainByte;
8
9/// LED Color
10pub enum LedColor {
11   Red,
12   Orange,
13   Green,
14   Off
15}
16
17/// LED Animation
18pub enum LedEffect {
19    Static,
20    Blink,
21    Pulse
22}
23
24/// Rotate motor with speed
25pub fn motor_speed(port: u8, speed: i8, layer: u8) -> Result<Vec<u8>, ValError> {
26    if port > 15 { return Err(ValError::InvalidRange(port as i32, 0, 15)); }
27    if !(-100..=100).contains(&speed) { return Err(ValError::InvalidRange(speed as i32, -100, 100)) }
28    if layer > 3 { return Err(ValError::InvalidRange(layer as i32, 0, 3)) }
29    let mut byte = ChainByte::new();
30    byte.push(0xA5)
31        .add(encode(LC0(layer as i8))?)
32        .add(encode(LC0(port as i8))?)
33        .add(encode(LC1(speed))?)
34        .push(0xA6)
35        .add(encode(LC0(layer as i8))?)
36        .add(encode(LC0(port as i8))?);
37    Ok(byte.bytes)
38}
39
40/// Stop motor at port 
41pub fn stop_motor(port: u16, layer: u8, hard: bool) -> Result<Vec<u8>, ValError> {
42    if port > 15 { return Err(ValError::InvalidRange(port as i32, 0, 15)); }
43    if layer > 3 { return Err(ValError::InvalidRange(layer as i32, 0, 3)); }
44    let mut byte = ChainByte::new();
45    byte.push(0xA3)
46        .add(encode(LC0(layer as i8))?)
47        .add(encode(LC0(port as i8))?)
48        .add(encode(LC0(match hard {
49            true => 1, false => 0
50        }))?);
51    Ok(byte.bytes)
52}
53
54/// Get battery percentage
55/// Return bytecodes and vector of `DataType`
56pub fn battery_percentage(cmd: &mut Command) -> Result<(Vec<u8>, Vec<DataType>), ValError> {
57    let mut byte = ChainByte::new();
58    byte.add(vec![0x81, 0x12])
59        .add(cmd.allocate(DataType::DATA8, true)?);
60    Ok((byte.bytes, vec![DataType::DATA8]))
61}
62
63/// Show LED
64pub fn show_led(color: LedColor, effect: LedEffect) -> Vec<u8> {
65    let mut byte = ChainByte::new();
66    byte.add(vec![0x82, 0x1B]);
67    if let LedColor::Off = color {
68        byte.add(encode(LC0(0)).unwrap());
69    }
70    let mut code: i8 = 0;
71    code += match color {
72        LedColor::Green => 1,
73        LedColor::Red => 2,
74        LedColor::Orange => 3,
75        _ => 0
76    };
77    code += match effect {
78        LedEffect::Static => 0,
79        LedEffect::Blink => 3,
80        LedEffect::Pulse => 6
81    };
82    byte.add(encode(LC0(code)).unwrap());
83    byte.bytes
84}
85
86
ev3_dc/funcs/mod.rs

ev3_dc/funcs/
mod.rs
