Self-Aligning Dish in Rust: Command Application

This part of the series will be an application of the preceding part, which enabled our project to receive commands remotely via Bluetooth.

Requirements
Implementation
Connections
Results

Requirements

1 x Raspberry Pi Pico board
1 x USB Cable type 2.0
1 x HC-05 Bluetooth module
10 x M-M jumper wires
2 x Mini Breadboards
Serial Bluetooth Terminal App

Implementation

In the main part of the program, under the super loop, we need to check whether we are in auto or manual mode. We'll also need to enter a critical section since shared variables will be used.

Add handles for uart_cmd and direction.

cortex_m::interrupt::free(|cs| {
    let mut direction = DIRECTION.borrow(cs).borrow_mut();
    let mut uart_cmd = UARTCMD.borrow(cs).borrow_mut();

    if AUTO.borrow(cs).get() {
        // Auto mode
    } else {
        // Manual mode
    }
});

Then add the following under the auto and manual arms respectively:

writeln!(&mut serialbuf, "auto mode").unwrap();
transmit_uart_cmd(uart_cmd.as_mut().unwrap(), serialbuf);

writeln!(&mut serialbuf, "manual mode").unwrap();
transmit_uart_cmd(uart_cmd.as_mut().unwrap(), serialbuf);

Under manual mode, we'll add the below code that applies our algorithm.

// manual mode
match direction.as_mut() {
    Some(Direction::Cw) => {
        *direction = None;// reset direction 
        writeln!(&mut serialbuf, "manual mode: cw").unwrap();
        transmit_uart_cmd(uart_cmd.as_mut().unwrap(), serialbuf);
    },
    Some(Direction::Ccw) => {
        *direction = None; 
        writeln!(&mut serialbuf, "manual mode: ccw").unwrap();
        transmit_uart_cmd(uart_cmd.as_mut().unwrap(), serialbuf);
    },
    Some(Direction::Up) => {
        *direction = None; 
        writeln!(&mut serialbuf, "manual mode: up").unwrap();
        transmit_uart_cmd(uart_cmd.as_mut().unwrap(), serialbuf);
    },
    Some(Direction::Down) => {
        *direction = None; 
        writeln!(&mut serialbuf, "manual mode: down").unwrap();
        transmit_uart_cmd(uart_cmd.as_mut().unwrap(), serialbuf);
    },
    Some(Direction::Zero) => {
        *direction = None; 
        writeln!(&mut serialbuf, "manual mode: position zero").unwrap();
        transmit_uart_cmd(uart_cmd.as_mut().unwrap(), serialbuf);
    },
    None => {},
}