Comments

src/main.rs

@@ -6,6 +6,8 @@ use panic_halt as _;
 use avr_device::interrupt;
 use core::cell::RefCell;
 
+// Serial monitor shit
+// No idea wtf this does
 type Console = arduino_hal::hal::usart::Usart0<arduino_hal::DefaultClock>;
 static CONSOLE: interrupt::Mutex<RefCell<Option<Console>>> =
     interrupt::Mutex::new(RefCell::new(None));
@@ -40,9 +42,15 @@ fn put_console(console: Console) {
     })
 }
 
+// Test ratio for converting from angle to servo control pulse
+// This was a guess and is kinda innacurate
+// Should do more accurate testing for final version
 const ANGLE_PULSE_RATIO: f32 = 10.25;
 
 fn set_servo_degree(pin: &mut Pin<Output>, degree: f32) {
+    // Using delays blocks the processor
+    // Cannot work with multiple motors
+    // Embassy async will fix this on pico
     let delay = (degree * ANGLE_PULSE_RATIO) as u32;
     pin.set_high();
     arduino_hal::delay_us(delay);
@@ -52,21 +60,24 @@ fn set_servo_degree(pin: &mut Pin<Output>, degree: f32) {
 
 #[arduino_hal::entry]
 fn main() -> ! {
+    /* Setup Pins */
     let dp = arduino_hal::Peripherals::take().unwrap();
     let pins = arduino_hal::pins!(dp);
     let serial = arduino_hal::default_serial!(dp, pins, 57600);
-     put_console(serial);
+    put_console(serial);
 
     let mut servo = pins.d9.into_output().downgrade();
     let switch = pins.d10.into_pull_up_input();
     println!("hewwo :3");
 
+    // Variables for loop-persistent data
     let mut switchSmoothed: f32 = 0.0;
     let mut switchPrev: f32 = 0.0;
     let mut switch_count = 0.0;
 
     loop {
         /* Get Input */
+        // This debouncing sucks ass and isn't good - doesn't matter, just for testing
         switch_count = match switch.is_low() {
             true => 1.0,
             false => switch_count - 0.2,
@@ -79,6 +90,7 @@ fn main() -> ! {
             val = 0.0;
         }
 
+        /* Move Servos */
         switchSmoothed = (switch_count * 0.05) + (switchPrev * 0.95);
         switchPrev = switchSmoothed;
         let deg = (190.0 * switchSmoothed) + 25.0;