79 lines
2.0 KiB
Rust
79 lines
2.0 KiB
Rust
#![no_std]
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#![no_main]
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use arduino_hal::port::{Pin, mode::Output};
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use panic_halt as _;
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use avr_device::interrupt;
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use core::cell::RefCell;
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type Console = arduino_hal::hal::usart::Usart0<arduino_hal::DefaultClock>;
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static CONSOLE: interrupt::Mutex<RefCell<Option<Console>>> =
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interrupt::Mutex::new(RefCell::new(None));
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macro_rules! print {
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($($t:tt)*) => {
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interrupt::free(
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|cs| {
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if let Some(console) = CONSOLE.borrow(cs).borrow_mut().as_mut() {
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let _ = ufmt::uwrite!(console, $($t)*);
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}
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},
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)
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};
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}
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macro_rules! println {
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($($t:tt)*) => {
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interrupt::free(
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|cs| {
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if let Some(console) = CONSOLE.borrow(cs).borrow_mut().as_mut() {
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let _ = ufmt::uwriteln!(console, $($t)*);
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}
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},
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)
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};
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}
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fn put_console(console: Console) {
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interrupt::free(|cs| {
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*CONSOLE.borrow(cs).borrow_mut() = Some(console);
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})
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}
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const ANGLE_PULSE_RATIO: f32 = 10.25;
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fn set_servo_degree(pin: &mut Pin<Output>, degree: f32) {
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let delay = (degree * ANGLE_PULSE_RATIO) as u32;
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pin.set_high();
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arduino_hal::delay_us(delay);
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pin.set_low();
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arduino_hal::delay_us(20000-delay);
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}
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#[arduino_hal::entry]
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fn main() -> ! {
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let dp = arduino_hal::Peripherals::take().unwrap();
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let pins = arduino_hal::pins!(dp);
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let serial = arduino_hal::default_serial!(dp, pins, 57600);
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put_console(serial);
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let mut servo = pins.d9.into_output().downgrade();
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let switch = pins.d10.into_pull_up_input();
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println!("hewwo :3");
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let mut switchSmoothed: f32 = 0.0;
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let mut switchPrev: f32 = 0.0;
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loop {
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let val = match switch.is_low() {
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true => 1.0,
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false => 0.0,
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};
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switchSmoothed = (val * 0.05) + (switchPrev * 0.95);
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switchPrev = switchSmoothed;
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let deg = (190.0 * switchSmoothed) + 25.0;
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set_servo_degree(&mut servo, deg);
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}
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}
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