Alter lightTest.rs to comply with 4-pin model, add ultrasonicTest.rs, add motorTest.rs with raslib::L298n library

Cargo.toml

@@ -5,3 +5,4 @@ edition = "2024"
 
 [dependencies]
 rppal = "0.17"
+raslib = "*"

src/moduleTests/fanTest.rs

@@ -4,21 +4,6 @@ use std::time::Duration;
 use rppal::gpio::Gpio;
 
 let gpio = Gpio::new()?;
-let mut fanFiveVoltRail = gpio.get(2)?.into_output();
+let mut examplePin = gpio.get(0)?.into_output();
 
-// Quick toggle fans 5 seconds long,  0.5s interval
+//TODO: Add relay switching 
-
-let mut i = 0;
-
-while i < 11 {
-	fanFiveVoltRail.set_high();
-	thread::sleep(Duration::from_secs(0.5));
-	fanFiveVoltRail.set_low();
-	i = i + 1
-}
-
-// Run fans for five more seconds constant
-
-fanFiveVoltRail.set_high();
-thread::sleep(Duration::from_secs(5));
-fanFiveVoltRail.set_low();

src/moduleTests/lightTest.rs

@@ -7,10 +7,8 @@ let gpio = Gpio::new()?;
 
 let mut indicatorLeftBack = gpio.get(21)?.into_output();
 let mut indicatorRightBack = gpio.get(22)?.into_output();
-let mut brakeLeftBack = gpio.get(23)?.into_output();
+let mut brakeLights = gpio.get(23)?.into_output();
-let mut brakeRightBack = gpio.get(24)?.into_output();
+let mut headLights = gpio.get(25)?.into_output();
-let mut frontLeftHead = gpio.get(25)?.into_output();
-let mut frontRightHead = gpio.get(26)?.into_output();
 
 // Blink both indicators
 
@@ -51,35 +49,35 @@ i = 0;
 
 // Hold brake lights and blink twice
 
-brakeLeftBack.set_high();
+brakeLights.set_high();
-brakeRightBack.set_high();
+brakeLights.set_high();
 thread::sleep(Duration::from_secs(3));
-brakeLeftBack.set_low();
+brakeLights.set_low();
-brakeRightBack.set_low();
+brakeLights.set_low();
 
 while i < 3 {
-	brakeLeftBack.set_high();
+	brakeLights.set_high();
-	brakeRightBack.set_high();
+	brakeLights.set_high();
 	thread::sleep(Duration::from_secs(0.7))
-	brakeLeftBack.set_low();
+	brakeLights.set_low();
-	brakeRigthBack.set_low();
+	brakeLights.set_low();
 }
 
 i = 0;
 
 // Turn on headlights and flash twice
 
-frontLeftHead.set_high();
+headLights.set_high();
-frontRightHead.set_high();
+headLights.set_high();
 thread::sleep(Duration::from_secs(3))
-frontLeftHead.set_low();
+headLights.set_low();
-frontRightHead.set_low();
+headLights.set_low();
 
 while i < 3 {
-	frontLeftHead.set_high();
+	headLights.set_high();
-	frontRightHead.set_high();
+	headLights.set_high();
 	thread::sleep(Duration::from_secs(0.7))
-	frontLeftHead.set_low();
+	headLights.set_low();
-	frontRightHead.set_low();
+	headLights.set_low();
 }
 

src/moduleTests/motorTest.rs

@@ -0,0 +1,50 @@
+use raslib::L298n;
+use std::thread;
+use std::time::Duration;
+
+// struct L298n {
+//   in1: Gpio,
+//   in2: Gpio,
+//   ena: Gpio,
+// }
+
+fn main() -> Result<(), std::io::Error> {
+    let mut motorFrontLeft = L298n::new(0, 0, 0);
+    let mut motorFrontRight = L298n::new(0, 0, 0);
+    let mut motorBackLeft = L298n::new(0, 0, 0);
+    let mut motorBackRight = L298n::new(0, 0, 0);
+
+    // Front left test
+
+    motorFrontLeft.forward()?;
+    thread::sleep(Duration::from_secs(2));
+    motorFrontLeft.backward()?;
+    thread::sleep(Duration::from_secs(2));
+    motorFrontLeft.stop()?;
+
+    // Front right test
+
+    motorFrontRight.forward()?;
+    thread::sleep(Duration::from_secs(2));
+    motorFrontRight.backward()?;
+    thread::sleep(Duration::from_secs(2));
+    motorFrontRight.stop()?;
+
+    // Back left test
+
+    motorBackLeft.forward()?;
+    thread::sleep(Duration::from_secs(2));
+    motorBackLeft.backward()?;
+    thread::sleep(Duration::from_secs(2));
+    motorBackLeft.stop()?;
+
+    // Back right test
+
+    motorBackRight.forward()?;
+    thread::sleep(Duration::from_secs(2));
+    motorBackRight.backward()?;
+    thread::sleep(Duration::from_secs(2));
+    motorBackRight.stop()?;
+
+    Ok(())
+}

src/moduleTests/ultrasonicTest.rs

@@ -0,0 +1,45 @@
+use hc_sr04::{HcSr04, Unit};
+
+let mut ultrasonicFront = HcSr04::new(
+    7,          // TRIGGER
+    1,          // ECHO
+    Some(23_f32) 
+).unwrap();
+
+let mut ultrasonicLeft = HcSr04::new(
+    0,
+    4,
+    Some(23_f32) 
+).unwrap();
+
+let mut ultrasonicRight = HcSr04::new(
+    2,
+    5,
+    Some(23_f32) 
+).unwrap();
+
+let mut ultrasonicBack = HcSr04::new(
+    3,
+    6,
+    Some(23_f32) 
+).unwrap();
+
+match ultrasonicFront.measure_distance(Unit::Meters).unwrap() {
+    Some(dist) => println!("[FRONT] Distance: {.2}m", dist),
+    None => println!("Object out of range"),
+}
+
+match ultrasonicLeft.measure_distance(Unit::Meters).unwrap() {
+    Some(dist) => println!("[LEFT] Distance: {.2}m", dist),
+    None => println!("Object out of range"),
+}
+
+match ultrasonicRight.measure_distance(Unit::Meters).unwrap() {
+    Some(dist) => println!("[RIGHT] Distance: {.2}m", dist),
+    None => println!("Object out of range"),
+}
+
+match ultrasonicBack.measure_distance(Unit::Meters).unwrap() {
+    Some(dist) => println!("[BACK] Distance: {.2}m", dist),
+    None => println!("Object out of range"),
+}