Kicker Programming Firmware

.github/workflows/ci.yml

@@ -13,10 +13,8 @@ jobs:
           toolchain: nightly-2024-09-04
           default: true
           target: thumbv7em-none-eabihf
-      - uses: actions-rs/cargo@v1
-        with:
-          command: check
-          args: --examples --bins --lib --target thumbv7em-none-eabihf
+      - name: Cargo Check
+        run: cd control && cargo check --examples --bins --lib --target thumbv7em-none-eabihf
 
   cargo_clippy:
     name: Clippy Check
@@ -29,10 +27,8 @@ jobs:
           default: true
           target: thumbv7em-none-eabihf
           components: clippy
-      - uses: actions-rs/cargo@v1
-        with:
-          command: clippy
-          args: --target thumbv7em-none-eabihf
+      - name: Run Clippy
+        run: cd control && cargo clippy --target thumbv7em-none-eabihf
 
   cargo_build:
     name: Cargo Build
@@ -44,10 +40,8 @@ jobs:
           toolchain: nightly-2024-09-04
           default: true
           target: thumbv7em-none-eabihf
-      - uses: actions-rs/cargo@v1
-        with:
-          command: build
-          args: --release --examples --bins --lib --target thumbv7em-none-eabihf
+      - name: Run Cargo Build
+        run: cd control && cargo build --release --examples --bins --lib --target thumbv7em-none-eabihf
 
   cargo_rustfmt:
     runs-on: ubuntu-latest
@@ -61,8 +55,5 @@ jobs:
           default: true
           target: thumbv7em-none-eabihf
           components: rustfmt
-      - name: Check Formatting
-        uses: actions-rs/cargo@v1
-        with:
-          command: fmt
-          args: --check
+      - name: Run rustfmt
+        run: cd control && cargo fmt --check

.gitignore

@@ -1,6 +1,10 @@
-/target
+**/target
+**/build
 
 # Teensy Loader CLI
-teensy_loader_cli
-teensy_loader_cli/**
-setup/teensy_loader_cli/**
+**/teensy_loader_cli
+**/teensy_loader_cli/**
+**/setup/teensy_loader_cli/**
+
+# Helix Configuration
+**/.helix/*

README.md

@@ -6,6 +6,17 @@ In 2023, we decided to switch microcontrollers from the team built A-Train micro
 
 Therefore, this repository contains the code for the firmware for the RoboJackets RoboCup team.
 
+## Setup
+
+If you are running linux or macos, run:
+```sh
+./setup/unix.sh
+```
+
+If running windows, follow the steps in [setup/WindowsSetup.md](setup/WindowsSetup.md). 
+
+To ensure the correct version of Teensy loader is used by your system ensure the line under your operating system (i.e. "MacOS", "Windows", and "Linux") is uncommented in [control/tools/runner.rs](control/tools/runner.rs)
+
 ## Common Commands
 
 ### Running main.rs

.vscode/settings.json → control/.vscode/settings.json

@@ -4,7 +4,8 @@
     "rust-analyzer.linkedProjects": [
         "./Cargo.toml",
         "./drivers/motion/Cargo.toml",
-        "./drivers/controller/Cargo.toml"
+        "./drivers/controller/Cargo.toml",
+        "./drivers/kicker-programmer/Cargo.toml",
     ],
     "rust-analyzer.check.extraArgs": [
         "--examples",

Cargo.toml → control/Cargo.toml

@@ -73,6 +73,9 @@ path = "drivers/motion"
 [dependencies.controller]
 path = "drivers/controller"
 
+[dependencies.kicker-programmer]
+path = "drivers/kicker-programmer"
+
 # the root package is also a workspace that holds all of the neccesary "supporting" packages
 # such as driver files, utility files (e.g. tools), etc.
 [workspace]
@@ -82,6 +85,7 @@ members = [
     "drivers/controller",
     "drivers/icm42605-driver",
     "tools",
+    "drivers/kicker-programmer",
 ]
 
 # overrides the release build optimization level

drivers/fpga/src/duty_cycle.rs → control/drivers/fpga/src/duty_cycle.rs

@@ -49,7 +49,7 @@ impl DutyCycle {
 impl From<i16> for DutyCycle {
     fn from(value: i16) -> Self {
         // check that value is not outside of the allowed range
-        if (value > 511) || (value < -511) {
+        if !(-511..=511).contains(&value) {
             return DutyCycle(0);
         }
 
@@ -68,7 +68,7 @@ impl From<DutyCycle> for i16 {
     fn from(dc: DutyCycle) -> Self {
         let mut result: i16 = 0;
         if (dc.0 >> 9) & 1 == 1 {
-            result = ((dc.0 & 0x1FF) as i16) * -1;
+            result = -((dc.0 & 0x1FF) as i16);
         } else {
             result = dc.0 as i16;
         }

drivers/fpga/src/instructions.rs → control/drivers/fpga/src/instructions.rs

@@ -1,7 +1,6 @@
 // Helper file that contains definitions used in the fpga
 // Extracted from the FPGA.cpp driver
 
-#[allow(dead_code, non_camel_case_types)]
 #[allow(dead_code, non_camel_case_types)]
 
 /// Instruction to Send to the Robot

drivers/fpga/src/lib.rs → control/drivers/fpga/src/lib.rs

@@ -201,10 +201,9 @@ where
     ///    5. Returns Ok if no errors or timeout
     pub fn configure(&mut self) -> Result<(), FpgaError<SPIE, GPIOE>> {
         // toggle the prog_b pin
-        self.prog_b.set_low().map_err(|e| {
-            let new_error = FpgaError::<SPIE, GPIOE>::ProgPin(e);
-            new_error
-        })?;
+        self.prog_b
+            .set_low()
+            .map_err(FpgaError::<SPIE, GPIOE>::ProgPin)?;
         self.delay.delay_ms(1); // allow for hardware to latch properly
         self.prog_b.set_high().map_err(FpgaError::ProgPin)?;
 
@@ -427,8 +426,8 @@ where
         let mut write_buffer = [0u8; 12];
         write_buffer[0] = Instruction::R_ENC_W_VEL.opcode();
 
-        for i in 0..wheel_velocities.len() {
-            wheel_velocities[i] *= VELOCITY_TO_DUTY_CYCLES;
+        for wheel_velocity in &mut wheel_velocities {
+            *wheel_velocity *= VELOCITY_TO_DUTY_CYCLES;
         }
 
         duty_cycles_to_fpga(wheel_velocities, &mut write_buffer[1..9]);
@@ -454,8 +453,8 @@ where
             (i16::from_be_bytes(write_buffer[5..7].try_into().unwrap()) as f32),
             (i16::from_be_bytes(write_buffer[7..9].try_into().unwrap()) as f32),
         ];
-        for i in 0..4 {
-            delta_encoders[i] *=
+        for encoder_velocity in &mut delta_encoders {
+            *encoder_velocity *=
                 1e6 * 2.0 * core::f32::consts::PI * WHEEL_RADIUS / (6144.0 * delta);
         }
         self.status = write_buffer[0];

control/drivers/kicker-programmer/Cargo.toml

@@ -0,0 +1,8 @@
+[package]
+name = "kicker-programmer"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+embedded-hal = "~0.2"
+log = "0.4"