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Merge pull request #35 from ripytide/new_sets_outputs
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explicitly set outputs to documented state when calling `new()`
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@rursprung
rursprung authored Jan 15, 2024
2 parents 82c7c81 + 9d6d27c commit 87066ce
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2 changes: 2 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -7,6 +7,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
<!-- next-header -->
## [Unreleased] - ReleaseDate
### Changed
* `Motor::new()` and `Driver::new()` methods now set the outputs upon their
initialisation to the documented defaults.
* Update to `embedded-hal=1.0.0-rc.2`

## [0.2.0] - 2023-11-28
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86 changes: 58 additions & 28 deletions src/lib.rs
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Expand Up @@ -75,26 +75,34 @@ where
{
/// Instantiate a new [`Tb6612fng`] with the defined pins.
/// This also automatically enables the two PWM pins.
/// The initial state of the motors will be [stopped](DriveCommand::Stop).
/// The initial state of the motors will be set to [stopped](DriveCommand::Stop).
/// The initial state of standby will be *disabled*.
///
/// Usage example:
/// ```
/// # use embedded_hal_mock::eh1::pin::Mock as PinMock;
/// # use embedded_hal_mock::eh1::pwm::Mock as PwmMock;
/// # let motor_a_in1 = PinMock::new([]);
/// # use embedded_hal_mock::eh1::pwm::Transaction as PwmTransaction;
/// # use embedded_hal_mock::eh1::pin::Transaction as PinTransaction;
/// # use embedded_hal_mock::eh1::pin::State::{High, Low};
///
/// # let motor_a_in1 = PinMock::new(&[PinTransaction::set(Low)]);
/// # let mut motor_a_in1_ = motor_a_in1.clone();
/// # let motor_a_in2 = PinMock::new([]);
/// # let motor_a_in2 = PinMock::new(&[PinTransaction::set(Low)]);
/// # let mut motor_a_in2_ = motor_a_in2.clone();
/// # let motor_a_pwm = PwmMock::new(&[]);
/// # let motor_a_pwm = PwmMock::new(&[PwmTransaction::max_duty_cycle(100), PwmTransaction::set_duty_cycle(0)]);
/// # let mut motor_a_pwm_ = motor_a_pwm.clone();
/// # let motor_b_in1 = PinMock::new([]);
///
/// # let motor_b_in1 = PinMock::new(&[PinTransaction::set(Low)]);
/// # let mut motor_b_in1_ = motor_b_in1.clone();
/// # let motor_b_in2 = PinMock::new([]);
/// # let motor_b_in2 = PinMock::new(&[PinTransaction::set(Low)]);
/// # let mut motor_b_in2_ = motor_b_in2.clone();
/// # let motor_b_pwm = PwmMock::new(&[]);
/// # let motor_b_pwm = PwmMock::new(&[PwmTransaction::max_duty_cycle(100), PwmTransaction::set_duty_cycle(0)]);
/// # let mut motor_b_pwm_ = motor_b_pwm.clone();
/// # let standby = PinMock::new([]);
///
/// # let standby = PinMock::new(&[PinTransaction::set(High)]);
/// # let mut standby_ = standby.clone();
///
/// use tb6612fng::Tb6612fng;
///
/// let controller = Tb6612fng::new(
Expand Down Expand Up @@ -124,11 +132,15 @@ where
motor_b_pwm: MBPWM,
standby: STBY,
) -> Tb6612fng<MAIN1, MAIN2, MAPWM, MBIN1, MBIN2, MBPWM, STBY> {
Tb6612fng {
let mut controller = Tb6612fng {
motor_a: Motor::new(motor_a_in1, motor_a_in2, motor_a_pwm),
motor_b: Motor::new(motor_b_in1, motor_b_in2, motor_b_pwm),
standby,
}
};

controller.disable_standby();

controller
}

/// Enable standby. This ignores any other setting currently done on the motors and puts them into standby.
Expand Down Expand Up @@ -165,18 +177,20 @@ where
{
/// Instantiate a new [`Motor`] with the defined pins.
/// This also automatically enables the PWM pin.
/// The initial state of the motor will be [stopped](DriveCommand::Stop).
/// The initial state of the motor will be set to [stopped](DriveCommand::Stop).
///
/// Usage example:
/// ```
/// # use embedded_hal_mock::eh1::pin::Mock as PinMock;
/// # use embedded_hal_mock::eh1::pwm::Mock as PwmMock;
/// # use embedded_hal_mock::eh1::pwm::Transaction as PwmTransaction;
/// # use embedded_hal_mock::eh1::pin::Transaction as PinTransaction;
/// # let motor_in1 = PinMock::new([]);
/// # use embedded_hal_mock::eh1::pin::State::{Low};
/// # let motor_in1 = PinMock::new(&[PinTransaction::set(Low)]);
/// # let mut motor_in1_ = motor_in1.clone();
/// # let motor_in2 = PinMock::new([]);
/// # let motor_in2 = PinMock::new(&[PinTransaction::set(Low)]);
/// # let mut motor_in2_ = motor_in2.clone();
/// # let motor_pwm = PwmMock::new([]);
/// # let motor_pwm = PwmMock::new(&[PwmTransaction::max_duty_cycle(100), PwmTransaction::set_duty_cycle(0)]);
/// # let mut motor_pwm_ = motor_pwm.clone();
/// use tb6612fng::Motor;
///
Expand All @@ -191,12 +205,16 @@ where
/// # motor_pwm_.done();
/// ```
pub fn new(in1: IN1, in2: IN2, pwm: PWM) -> Motor<IN1, IN2, PWM> {
Motor {
let mut motor = Motor {
in1,
in2,
pwm,
current_drive_command: DriveCommand::Stop,
}
};

motor.drive(motor.current_drive_command).unwrap();

motor
}

/// Drive forward with the defined speed. Note that the speed is a percentage between 0 and 100!
Expand Down Expand Up @@ -296,11 +314,13 @@ mod tests {
#[test]
fn test_motor_stop() {
let max_duty = 100;
let motor_in1_expectations = [PinTransaction::set(Low)];
let motor_in2_expectations = [PinTransaction::set(Low)];
let motor_in1_expectations = [PinTransaction::set(Low), PinTransaction::set(Low)];
let motor_in2_expectations = [PinTransaction::set(Low), PinTransaction::set(Low)];
let motor_pwm_expectations = [
PwmTransaction::max_duty_cycle(max_duty),
PwmTransaction::set_duty_cycle(0),
PwmTransaction::max_duty_cycle(max_duty),
PwmTransaction::set_duty_cycle(0),
];
let mut motor_in1 = PinMock::new(&motor_in1_expectations);
let mut motor_in2 = PinMock::new(&motor_in2_expectations);
Expand All @@ -321,11 +341,13 @@ mod tests {
#[test]
fn test_motor_brake() {
let max_duty = 100;
let motor_in1_expectations = [PinTransaction::set(High)];
let motor_in2_expectations = [PinTransaction::set(High)];
let motor_in1_expectations = [PinTransaction::set(Low), PinTransaction::set(High)];
let motor_in2_expectations = [PinTransaction::set(Low), PinTransaction::set(High)];
let motor_pwm_expectations = [
PwmTransaction::max_duty_cycle(max_duty),
PwmTransaction::set_duty_cycle(0),
PwmTransaction::max_duty_cycle(max_duty),
PwmTransaction::set_duty_cycle(0),
];
let mut motor_in1 = PinMock::new(&motor_in1_expectations);
let mut motor_in2 = PinMock::new(&motor_in2_expectations);
Expand All @@ -347,9 +369,11 @@ mod tests {
fn test_motor_drive_forward() {
let max_duty = 100;
let speed: u8 = 100;
let motor_in1_expectations = [PinTransaction::set(High)];
let motor_in2_expectations = [PinTransaction::set(Low)];
let motor_in1_expectations = [PinTransaction::set(Low), PinTransaction::set(High)];
let motor_in2_expectations = [PinTransaction::set(Low), PinTransaction::set(Low)];
let motor_pwm_expectations = [
PwmTransaction::max_duty_cycle(max_duty),
PwmTransaction::set_duty_cycle(0),
PwmTransaction::max_duty_cycle(max_duty),
PwmTransaction::set_duty_cycle(speed as u16),
];
Expand All @@ -373,9 +397,11 @@ mod tests {
fn test_motor_drive_backwards() {
let max_duty = 100;
let speed = 100;
let motor_in1_expectations = [PinTransaction::set(Low)];
let motor_in2_expectations = [PinTransaction::set(High)];
let motor_in1_expectations = [PinTransaction::set(Low), PinTransaction::set(Low)];
let motor_in2_expectations = [PinTransaction::set(Low), PinTransaction::set(High)];
let motor_pwm_expectations = [
PwmTransaction::max_duty_cycle(max_duty),
PwmTransaction::set_duty_cycle(0),
PwmTransaction::max_duty_cycle(max_duty),
PwmTransaction::set_duty_cycle(speed as u16),
];
Expand All @@ -397,16 +423,20 @@ mod tests {

#[test]
fn test_motor_drive_invalid_speed() {
let motor_in1_expectations = [];
let motor_in2_expectations = [];
let motor_pwm_expectations = [];
let max_duty = 100;
let motor_in1_expectations = [PinTransaction::set(Low)];
let motor_in2_expectations = [PinTransaction::set(Low)];
let motor_pwm_expectations = [
PwmTransaction::max_duty_cycle(max_duty),
PwmTransaction::set_duty_cycle(0),
];
let mut motor_in1 = PinMock::new(&motor_in1_expectations);
let mut motor_in2 = PinMock::new(&motor_in2_expectations);
let mut motor_pwm = PwmMock::new(&motor_pwm_expectations);

let mut motor = Motor::new(motor_in1.clone(), motor_in2.clone(), motor_pwm.clone());

let current_drive_command = motor.current_drive_command().clone();
let current_drive_command = *motor.current_drive_command();
let current_speed = motor.current_speed();

assert_eq!(
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