feat: 🛞 tracking wheel robot localisation

Cargo.toml

@@ -13,8 +13,9 @@ icon = "cool-x"
 compress = true
 
 [dependencies]
-vexide = "0.7.0"
+vexide = { version = "0.7.0" }
 libm = { version = "0.2", default-features = false }
 uom = { version = "0.36.0", default-features = false, features = ["f64", "si"] }
 embassy-sync = "0.7.0"
 spin = { version = "0.9", default-features = false, features = ["once", "mutex", "spin_mutex"] }
+heapless = "0.8"

ascii.md

@@ -0,0 +1,9 @@
+ $$$$$$\                               $$\       $$\ $$\       
+$$  __$$\                              $$ |      \__|$$ |      
+$$ /  \__| $$$$$$\  $$$$$$\ $$\    $$\ $$ |      $$\ $$$$$$$\  
+$$ |$$$$\ $$  __$$\ \____$$\\$$\  $$  |$$ |      $$ |$$  __$$\ 
+$$ |\_$$ |$$ |  \__|$$$$$$$ |\$$\$$  / $$ |      $$ |$$ |  $$ |
+$$ |  $$ |$$ |     $$  __$$ | \$$$  /  $$ |      $$ |$$ |  $$ |
+\$$$$$$  |$$ |     \$$$$$$$ |  \$  /   $$$$$$$$\ $$ |$$$$$$$  |
+ \______/ \__|      \_______|   \_/    \________|\__|\_______/ 
+###############################################################

src/GravLib/actuator/mod.rs

@@ -2,6 +2,9 @@ pub mod motor_group;
 // pub mod smartmotor;
 // TODO - FIX MOTORGROUP
 
+// pub use smartmotor::SmartMotor;
+// pub mod smartmotor;
+
 // pub use smartmotor::SmartMotor;
 
 pub use motor_group::MotorGroup; 

src/GravLib/actuator/motor_group.rs

@@ -11,19 +11,15 @@ use vexide::task;
 use libm::roundf;
 
 pub struct MotorGroup {
-    inner: &'static Mutex<Inner>,
-}
-
-struct Inner {
     motors: Vec<Motor>,
 }
 
-impl Inner{
-    fn new(motors: Vec<Motor>) -> Self {
+impl MotorGroup {
+    pub fn new(motors: Vec<Motor>) -> Self {
         Self { motors }
     }
 
-    fn move_voltage(&mut self, voltage: f64) {
+    pub fn move_voltage(&mut self, voltage: f64) {
         for motor in &mut self.motors {
             let _ = motor.set_voltage(voltage); 
         }
@@ -79,127 +75,4 @@ impl Inner{
             let _ = motor.brake(mode);
         }
     }
-}
-
-
-impl MotorGroup {
-    pub fn new(motors: Vec<Motor>) -> Self {
-        let boxed = Box::new(Mutex::new(Inner::new(motors)));
-        let static_mutex = Box::leak(boxed); // leak the Box to get a static reference
-
-        let handle: MotorGroup = MotorGroup {inner: static_mutex}; 
-        // task::spawn(Self::tracking_task(handle.inner)).detach(); // TODO - optional, useable in chasiss, spawn background tracking task
-
-        handle
-    }
-
-    pub fn move_voltage(&self, voltage: f64) {
-        let mut guard = self.inner.lock();
-        guard.move_voltage(voltage);
-    }
-
-    pub fn move_velocity(&self, velocity_percentage: f64) {
-        let mut guard = self.inner.lock();
-        guard.move_velocity(velocity_percentage);
-    }
-
-    pub fn voltage(&self) -> f64 {
-        let guard = self.inner.lock();
-        guard.voltage()
-    }
-
-    pub fn position(&self) -> f64 {
-        let guard = self.inner.lock();
-        guard.position()
-    }
-
-    pub fn brake(&self, mode: BrakeMode) {
-        let mut guard = self.inner.lock();
-        guard.brake(mode);
-    }
-}
-
-
-
-
-
-
-
-
-
-
-
-
-// _________________________________________ //
-
-
-
-
-
-// pub struct motorGroup {
-//     motors: Vec<Motor>
-// }
-
-
-// impl motorGroup {
-//     pub fn new(motors: Vec<Motor>) -> Self {
-//         Self { motors }
-//     }
-
-//     pub fn set_voltage(&mut self, voltage: f64) {
-//         for motor in self.motors.iter_mut() {
-//             let _ = motor.set_voltage(voltage);
-//         }
-//     }
-
-//     pub fn voltage(&self) -> f64 {
-//         let mut total = 0.0;
-
-//         for motor in &self.motors {
-//             if let Ok(voltage) = motor.voltage() {
-//                 total += voltage;
-//             }
-//         }
-//         total / self.motors.len() as f64
-//     }
-
-
-//     pub fn position(&self) -> f64 {
-//         let mut total = 0.0;
-//         for motor in &self.motors {
-//             if let Ok(angle) = motor.position() {
-//                 total += angle.as_radians();
-//             }
-//         }
-//         total
-//     }
-
-//         // @dev_note: set_velocity method is built in PID by VEXIDE devs.
-//     pub fn set_velocity(&mut self, velocity_percentage: f64) {
-//         // Calculate velocity as percentage of max velocity
-
-//         for motor in self.motors.iter_mut() {
-//             let gearset = motor.gearset().unwrap();
-
-//             let max_rpm = match gearset {
-//                 Gearset::Red   => 100,
-//                 Gearset::Green => 200,
-//                 Gearset::Blue  => 600,
-//             };
-
-//             // Convert percentages to rpm
-//             let velocity_raw = 
-//                 (velocity_percentage as f32 / 100.0)
-//                 * (max_rpm as f32);
-
-//             let velocity = roundf(velocity_raw) as i32;
-//             let _ = motor.set_velocity(velocity);
-//         }
-//     }
-
-//     pub fn brake(&mut self, mode: BrakeMode) {
-//         for motor in self.motors.iter_mut() {
-//             let _ = motor.brake(mode);
-//         }
-//     }
-// }
+}