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use std::thread;
use std::time::Duration;
use rppal::i2c::I2c;
const THUNDERBORG_I2C_ADDR: u16 = 0x15;
const COMMAND_ANALOG_MAX: u16 = 0x3FF;
const VOLTAGE_PIN_MAX: f32 = 36.3;
const SET_LED_CMD: u8 = 5;
const GET_BATT_VOLTAGE_CMD: u8 = 21;
const SET_LEFT_MOTORS_PWR_FWD_CMD: u8 = 8;
const SET_LEFT_MOTORS_PWR_REV_CMD: u8 = 9;
const SET_RIGHT_MOTORS_PWR_FWD_CMD: u8 = 11;
const SET_RIGHT_MOTORS_PWR_REV_CMD: u8 = 12;
const ALL_MOTORS_OFF_CMD: u8 = 14;
const MAX_MOTOR_POWER: u8 = 242;
pub struct ThunderborgDriver
{
i2c_conn: I2c,
}
impl ThunderborgDriver
{
pub fn new() -> Result<Self, rppal::i2c::Error>
{
let mut i2c = I2c::new()?;
i2c.set_slave_address(THUNDERBORG_I2C_ADDR)?;
Ok(Self{i2c_conn: i2c,})
}
pub fn drive_fwd_for_ms(&self, num_milliseconds: u64) -> Result<(), rppal::i2c::Error>
{
self.set_left_motors_pwr_fwd(MAX_MOTOR_POWER)?;
self.set_right_motors_pwr_fwd(MAX_MOTOR_POWER)?;
let sleep_time = Duration::from_millis(num_milliseconds);
thread::sleep(sleep_time);
self.motors_off()
}
pub fn drive_rev_for_ms(&self, num_milliseconds: u64) -> Result<(), rppal::i2c::Error>
{
self.set_left_motors_pwr_rev(MAX_MOTOR_POWER)?;
self.set_right_motors_pwr_rev(MAX_MOTOR_POWER)?;
let sleep_time = Duration::from_millis(num_milliseconds);
thread::sleep(sleep_time);
self.motors_off()
}
pub fn spin_left_for_ms(&self, num_milliseconds: u64) -> Result<(), rppal::i2c::Error>
{
self.set_left_motors_pwr_fwd(MAX_MOTOR_POWER)?;
self.set_right_motors_pwr_rev(MAX_MOTOR_POWER)?;
let sleep_time = Duration::from_millis(num_milliseconds);
thread::sleep(sleep_time);
self.motors_off()
}
pub fn spin_right_for_ms(&self, num_milliseconds: u64) -> Result<(), rppal::i2c::Error>
{
self.set_right_motors_pwr_fwd(MAX_MOTOR_POWER)?;
self.set_left_motors_pwr_rev(MAX_MOTOR_POWER)?;
let sleep_time = Duration::from_millis(num_milliseconds);
thread::sleep(sleep_time);
self.motors_off()
}
pub fn set_left_motors_pwr_fwd(&self, power_input: u8) -> Result<(), rppal::i2c::Error>
{
let mut set_power: [u8;1] = [0];
if power_input > MAX_MOTOR_POWER
{
set_power[0] = MAX_MOTOR_POWER;
}
else
{
set_power[0] = power_input;
}
self.i2c_conn.block_write(SET_LEFT_MOTORS_PWR_FWD_CMD, &set_power)?;
Ok(())
}
pub fn set_right_motors_pwr_fwd(&self, power_input: u8) -> Result<(), rppal::i2c::Error>
{
let mut set_power: [u8;1] = [0];
if power_input > MAX_MOTOR_POWER
{
set_power[0] = MAX_MOTOR_POWER;
}
else
{
set_power[0] = power_input;
}
self.i2c_conn.block_write(SET_RIGHT_MOTORS_PWR_FWD_CMD, &set_power)?;
Ok(())
}
pub fn set_left_motors_pwr_rev(&self, power_input: u8) -> Result<(), rppal::i2c::Error>
{
let mut set_power: [u8;1] = [0];
if power_input > MAX_MOTOR_POWER
{
set_power[0] = MAX_MOTOR_POWER;
}
else
{
set_power[0] = power_input;
}
self.i2c_conn.block_write(SET_LEFT_MOTORS_PWR_REV_CMD, &set_power)?;
Ok(())
}
pub fn set_right_motors_pwr_rev(&self, power_input: u8) -> Result<(), rppal::i2c::Error>
{
let mut set_power: [u8;1] = [0];
if power_input > MAX_MOTOR_POWER
{
set_power[0] = MAX_MOTOR_POWER;
}
else
{
set_power[0] = power_input;
}
self.i2c_conn.block_write(SET_RIGHT_MOTORS_PWR_REV_CMD, &set_power)?;
Ok(())
}
pub fn motors_off(&self) -> Result<(), rppal::i2c::Error>
{
let data: [u8;1] = [0];
self.i2c_conn.block_write(ALL_MOTORS_OFF_CMD, &data)?;
Ok(())
}
pub fn set_led_color(&self, red:u8, green: u8, blue: u8) -> Result<(), rppal::i2c::Error>
{
let set_rgb: [u8;3] = [red, green, blue];
self.i2c_conn.block_write(SET_LED_CMD, &set_rgb)?;
Ok(())
}
pub fn get_battery_voltage(&self) -> Result<f32, rppal::i2c::Error>
{
let mut read_buffer: [u8;4] = [0, 0, 0, 0];
self.i2c_conn.block_read(GET_BATT_VOLTAGE_CMD, &mut read_buffer)?;
let v1: u32 = read_buffer[1].into();
let v2: u32 = read_buffer[2].into();
let raw = ((v1 << 8) + v2) as f32;
let level = raw/(COMMAND_ANALOG_MAX as f32);
let voltage = level*VOLTAGE_PIN_MAX;
Ok(voltage)
}
}