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Author SHA1 Message Date
melfely d4809beee7 Merge pull request 'Repo rebuild' (#2) from repo-rebuild into master 
Reviewed-on: #2
 2026-07-31 02:43:07 +00:00
melfely 69deda596e Merge branch 'repo-rebuild' 2026-07-30 21:38:16 -05:00
melfely 3703ca664e Added in the Pid and Motor Code 
Pid was added to rnavp, since it can be used in alot of different things.
 2026-07-30 21:20:30 -05:00
melfely 4b06468ff4 Rebuild the repo as a workspace 
This replaces the existing single lib project repo, and replaces it with a workspace containing a large number of crates, this will allow for a much better structure and less feature flags being needed for reducing the feature scope for each user.
 2026-07-30 20:35:13 -05:00
25 changed files with 371 additions and 527 deletions
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Cargo.lock
Generated
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@@ -3,35 +3,193 @@
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Cargo.toml
+4 -19
View File
@@ -1,19 +1,4 @@
[package]
name = "rnavp"
version = "0.1.0"
edition = "2024"
publish = ["gitea"]
license = "MIT OR Apache-2.0"
[features]
default= ["embassy"]
std = []
embassy = ["core_full"]
core = []
core_full = ["core_communication", "core_logic"]
core_communication = ["core"]
core_logic = ["core"]
host = ["std", "core_full"]
[dependencies]
serde = { version = "1.0.228", features = ["derive"], default-features = false }
[workspace]
members = ["rnavp"
, "rnavp_communication", "rnavp_controller"]
resolver = "3"
rnavp/Cargo.toml
+11
View File
@@ -0,0 +1,11 @@
[package]
name = "rnavp"
version = "0.1.0"
edition = "2024"
[dependencies]
heapless = { version = "0.9.3", features = ["serde"] }
postcard = { version = "1.1.3", features = ["postcard-derive"] }
serde = { version = "1.0.229", default-features = false, features = ["derive"] }
thiserror = { version = "2.0.19", default-features = false }
uom = { version = "0.38.0", default-features = false, features = ["autoconvert", "f32", "si"] }
rnavp/src/direction.rs
+69
View File
@@ -0,0 +1,69 @@
use serde::{Deserialize, Serialize};
///A simple enum for Counterclockwise or Clockwise direction semantics. Makes it easier much clear than a true/false bool
/// IF you use this to convert to a signed number note that CW is negative and CCW is positive
#[derive(Clone, Copy, PartialEq, Eq, Debug, Serialize, Deserialize)]
pub enum Direction {
///CounterClockWise
CCW,
///ClockWise
CW,
}
impl Direction {
///Inverts the direction currently stored in this.
/// Helps with a simple direction change without knowing the current direction.
pub fn inv_dir(&mut self) {
match *self {
Self::CCW => {
*self = Self::CW;
}
Self::CW => {
*self = Self::CCW;
}
}
}
///Changes the current direction based on the sign of the float.
///Recommended to use this over the "From" impl for directions that already exist, to prevent werid 0.0 case and NaN problems
/// This handles 0.0 and NaN by just doing nothing. The "From" impl defualts to CCW for both
pub fn dir_from_f32(&mut self, value: f32) {
if value == 0.0 || value.is_nan() {
return;
}
*self = value.into();
}
///Changes the current direction based on the sign of the int.
///Recommended to use this over the "From" impl for directions that already exist, to prevent weird 0 case problems
///This handles 0 by just doing nothing. The "From" impl defaults to CCW
pub fn dir_from_i32(&mut self, value: i32) {
if value == 0 {
return;
}
*self = value.into();
}
}
///Converts F32 to direction using the number's sign.
/// This defaults to CCW for 0.0 and NaN.
impl From<f32> for Direction {
fn from(value: f32) -> Self {
if value < 0.0 {
Direction::CW
} else {
Direction::CCW
}
}
}
/// Converts i32 to direction using the number's sign.
/// This defaults to CCW for 0.
impl From<i32> for Direction {
fn from(value: i32) -> Self {
if value < 0 {
Direction::CW
} else {
Direction::CCW
}
}
}
src/core/communication/drivetrain.rs → rnavp/src/error.rs
View File
rnavp/src/lib.rs
+5
View File
@@ -0,0 +1,5 @@
mod direction;
pub mod error;
pub mod motor;
pub mod pid;
pub mod positional;
src/core/motor.rs → rnavp/src/motor.rs
+5 -114
View File
@@ -1,115 +1,6 @@
use core::fmt::Display;
use uom::si::f32::{Angle, AngularVelocity, ElectricCurrent, ElectricPotential};
use serde::{Deserialize, Serialize};
use crate::core::{
motor::Direction::{CCW, CW},
units::{Angle, Current, Voltage},
};
///A simple enum for Counterclockwise or Clockwise direction semantics. Makes it easier much clear than a true/false bool
/// IF you use this to convert to a signed number note that CW is negative and CCW is positive
#[derive(Clone, Copy, PartialEq, Eq, Debug, Serialize, Deserialize)]
pub enum Direction {
///CounterClockWise
CCW,
///ClockWise
CW,
}
impl Direction {
///Inverts the direction currently stored in this.
/// Helps with a simple direction change without knowing the current direction.
pub fn inv_dir(&mut self) {
match *self {
Self::CCW => {
*self = Self::CW;
}
Self::CW => {
*self = Self::CCW;
}
}
}
///Changes the current direction based on the sign of the float.
///Recommended to use this over the "From" impl for directions that already exist, to prevent werid 0.0 case and NaN problems
/// This handles 0.0 and NaN by just doing nothing. The "From" impl defualts to CCW for both
pub fn dir_from_f32(&mut self, value: f32) {
if value == 0.0 || value.is_nan() {
return;
}
*self = value.into();
}
///Changes the current direction based on the sign of the int.
///Recommended to use this over the "From" impl for directions that already exist, to prevent weird 0 case problems
///This handles 0 by just doing nothing. The "From" impl defaults to CCW
pub fn dir_from_i32(&mut self, value: i32) {
if value == 0 {
return;
}
*self = value.into();
}
}
///Converts F32 to direction using the number's sign.
/// This defaults to CCW for 0.0 and NaN.
impl From<f32> for Direction {
fn from(value: f32) -> Self {
if value < 0.0 { CW } else { CCW }
}
}
/// Converts i32 to direction using the number's sign.
/// This defaults to CCW for 0.
impl From<i32> for Direction {
fn from(value: i32) -> Self {
if value < 0 { CW } else { CCW }
}
}
///A enum for containerizing speeds easily
/// Lets the backend take in a Rotations per minute value from a user Sensor implementation and convert it to a Radians per second value
///Pay attention to the units of each term
#[derive(Clone, Copy, PartialEq, Debug, Serialize, Deserialize)]
pub enum Speed {
///Rotations per minute
RPM(f32),
///Radians per second
RADS(f32),
}
///Used to convert from Rotations per minute to radians per second
const RPM_TO_RADS: f32 = core::f32::consts::TAU / 60.0;
///Used to convert from Radians per second to Rotations per minute
const RADS_TO_RPM: f32 = 60.0 / core::f32::consts::TAU;
impl Speed {
///Returns the value as Radians Per Second regardless of what the enum contains
/// Uses no runtime division
#[inline]
pub fn rads(&self) -> f32 {
match *self {
Self::RPM(rpm) => rpm * RADS_TO_RPM,
Self::RADS(rps) => rps,
}
}
///Returns the value as Rotations Per minute regardles of what the enum contains
/// Uses no runtime division
#[inline]
pub fn rpm(&self) -> f32 {
match *self {
Self::RPM(rpm) => rpm,
Self::RADS(rps) => rps * RPM_TO_RADS,
}
}
}
impl Display for Speed {
fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
write!(f, "")
}
}
pub use crate::direction::Direction;
/// # Motor Driver
///
@@ -160,15 +51,15 @@ pub trait Sensor {
///Returns the speed struct value from the motors sensor.
///
/// IF properly returned in the correct Enum Data field, all other systems will use the value propely, being unit agnostic later.
async fn get_speed(&self) -> Speed;
async fn get_speed(&self) -> AngularVelocity;
///Returns the current from the sensor, if it capable.
/// This should be non-blocking. Keep a cached value ready.
async fn get_current(&self) -> Option<Current>;
async fn get_current(&self) -> Option<ElectricCurrent>;
///Returns the current voltage from the sensro, if it is capable.
/// This should be non-blocking. Keep a cached value ready.
async fn get_voltage(&self) -> Option<Voltage>;
async fn get_voltage(&self) -> Option<ElectricPotential>;
///Returns the current angle from the sensor if it is capable.
/// This should be non-blocking. Keep a cached value ready.
src/core/logic/pid.rs → rnavp/src/pid.rs
View File
src/core/communication/motor.rs → rnavp/src/positional.rs
View File
rnavp_communication/Cargo.toml
+6
View File
@@ -0,0 +1,6 @@
[package]
name = "rnavp_communication"
version = "0.1.0"
edition = "2024"
[dependencies]
rnavp_communication/src/lib.rs
+14
View File
@@ -0,0 +1,14 @@
pub fn add(left: u64, right: u64) -> u64 {
left + right
}
#[cfg(test)]
mod tests {
use super::*;
#[test]
fn it_works() {
let result = add(2, 2);
assert_eq!(result, 4);
}
}
rnavp_controller/Cargo.toml
+9
View File
@@ -0,0 +1,9 @@
[package]
name = "rnavp_logic"
version = "0.1.0"
edition = "2024"
[dependencies]
rnavp = {path = "../rnavp"}
serde = { version = "1.0.229", default-features = false, features = ["derive"] }
uom = { version = "0.38.0", default-features = false, features = ["si", "f32"] }
rnavp_controller/src/lib.rs
+1
View File
@@ -0,0 +1 @@
pub mod motor;
src/core/logic/motor.rs → rnavp_controller/src/motor.rs
+10 -11
View File
@@ -1,7 +1,6 @@
use crate::core::motor;
use crate::core::motor::{Direction, Speed};
use crate::core::logic::pid;
use rnavp::motor::{self, Direction};
use rnavp::pid;
use uom::si::f32::AngularVelocity;
#[derive(Debug, Clone, Copy, PartialEq)]
/// # Motor Controller
@@ -17,7 +16,7 @@ where
T: motor::Driver + motor::Sensor,
{
motor: T,
max_speed: Speed,
max_speed: AngularVelocity,
pid: pid::PID,
current_direction: Direction,
}
@@ -25,12 +24,12 @@ where
///Controller Impl for the adding the PID logic for handling the motor compiston
impl<T: motor::Driver + motor::Sensor> Controller<T> {
///Uses the given set_speed and then will handle the rest of the control logic to accurately* hit the requested speed
pub async fn control(&mut self, set_speed: Speed) {
let max_speed_rads = self.max_speed.rads();
let set_speed_rads = set_speed.rads().clamp(-max_speed_rads, max_speed_rads);
pub async fn control(&mut self, set_speed: AngularVelocity) {
let max_speed_rads = self.max_speed.value;
let set_speed_rads = set_speed.value.clamp(-max_speed_rads, max_speed_rads);
self.pid.set_point(set_speed_rads).await;
let pid_output = self.pid.pid_step(self.motor.get_speed().await.rads()).await;
let pid_output = self.pid.pid_step(self.motor.get_speed().await.value).await;
self.current_direction.dir_from_f32(pid_output);
@@ -43,13 +42,13 @@ impl<T: motor::Driver + motor::Sensor> Controller<T> {
///Retrieve the speed from the motor inside the controller.
/// This allows you to get a speed value from behind the move.
pub async fn retrieve(&self) -> motor::Speed {
pub async fn retrieve(&self) -> AngularVelocity {
self.motor.get_speed().await
}
///Creates a new Controller with a motor (of type T), a max speed and a pid::Config
/// This then allows for you to use the controller with the provided types
pub fn new(motor: T, max_speed: Speed, config: pid::Config) -> Self {
pub fn new(motor: T, max_speed: AngularVelocity, config: pid::Config) -> Self {
Controller {
motor: motor,
max_speed: max_speed,
src/core/communication/mod.rs
-4
View File
@@ -1,4 +0,0 @@
pub mod drivetrain;
pub mod motor;
pub mod sensing;
pub mod wheel;
src/core/communication/sensing.rs
-1
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src/core/communication/wheel.rs
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src/core/logic/kinematics.rs
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src/core/logic/mod.rs
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pub mod kinematics;
pub mod motor;
pub mod pid;
src/core/mod.rs
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#[cfg(feature = "core_communication")]
pub mod communication;
#[cfg(feature = "core_logic")]
pub mod logic;
pub mod error;
pub mod motor;
pub mod positional;
pub mod units;
src/core/positional.rs
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use core::fmt::Display;
use serde::{Deserialize, Serialize};
///Generic Positional Data Struct, This can contain XYZ positions in meters or Radians
#[derive(Serialize, Deserialize, Clone, Copy, PartialEq, Debug)]
pub struct XYZPos {
x: Option<f32>,
y: Option<f32>,
z: Option<f32>,
unit: Unit,
}
///Generic Velocity Data Struct, This can contain XYZ velocities in Meters Per Second or Radians Per Second
#[derive(Serialize, Deserialize, Clone, Copy, PartialEq, Debug)]
pub struct XYZVel {
x: Option<f32>,
y: Option<f32>,
z: Option<f32>,
unit: Unit,
}
///Generic Acceleration Data Struct, This can contain XYZ accelerations in Meters Per Second Squared or Radians Per Second
#[derive(Serialize, Deserialize, Clone, Copy, PartialEq, Debug)]
pub struct XYZAccel {
x: Option<f32>,
y: Option<f32>,
z: Option<f32>,
unit: Unit,
}
impl XYZData for XYZPos {
fn x(&self) -> Option<f32> {
self.x
}
fn y(&self) -> Option<f32> {
self.y
}
fn z(&self) -> Option<f32> {
self.z
}
fn unit(&self) -> Unit {
self.unit
}
fn is_pos(&self) -> bool {
true
}
}
impl XYZData for XYZVel {
fn x(&self) -> Option<f32> {
self.x
}
fn y(&self) -> Option<f32> {
self.y
}
fn z(&self) -> Option<f32> {
self.z
}
fn unit(&self) -> Unit {
self.unit
}
fn is_vel(&self) -> bool {
true
}
}
impl XYZData for XYZAccel {
fn x(&self) -> Option<f32> {
self.x
}
fn y(&self) -> Option<f32> {
self.y
}
fn z(&self) -> Option<f32> {
self.z
}
fn unit(&self) -> Unit {
self.unit
}
fn is_accel(&self) -> bool {
true
}
}
impl Position for XYZPos {}
impl Velocity for XYZVel {}
impl Acceleration for XYZAccel {}
impl Display for XYZPos {
fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
let unit_str = match self.unit {
Unit::Meters => "m",
Unit::Radians => "rad",
Unit::Custom => "custom",
};
write!(
f,
"[X: {:?}{unit_str} | Y: {:?}{unit_str} | Z: {:?}{unit_str}]",
self.x, self.y, self.z
)
}
}
impl Display for XYZVel {
fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
let unit_str = match self.unit {
Unit::Meters => "m",
Unit::Radians => "rad",
Unit::Custom => "custom",
};
write!(
f,
"[X: {:?}{unit_str}/s | Y: {:?}{unit_str}/s | Z: {:?}{unit_str}/s]",
self.x, self.y, self.z
)
}
}
impl Display for XYZAccel {
fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
let unit_str = match self.unit {
Unit::Meters => "m",
Unit::Radians => "rad",
Unit::Custom => "custom",
};
write!(
f,
"[X: {:?}{unit_str}/s^2 | Y: {:?}{unit_str}/s^2 | Z: {:?}{unit_str}/s^2]",
self.x, self.y, self.z
)
}
}
///Structs that impl this trait, mean they are positions. Determine what type of position by reading the unit.
pub trait Position: XYZData {}
///Structs that impl this trait mean they are Velocities. Determine what type of velocity by reading the unit.
pub trait Velocity: XYZData {}
///Structs that impl this trait mean they are Accelerations. Determine what type of Acceleration by reading the unit.
pub trait Acceleration: XYZData {}
///This is the data backbone for the XYZ Position, Velocity, and Acceleration Data structs.
///They MUST implmenent this so it possible to easily and quickly get the data from the struct.
///Provides methods to check what type this is
pub trait XYZData {
fn x(&self) -> Option<f32>;
fn y(&self) -> Option<f32>;
fn z(&self) -> Option<f32>;
fn unit(&self) -> Unit;
///Returns an array of f32s that are the XYZ position, velocity or accel, based on the implemented traits.
///Any option field in the array that are None are returned as 0.0 here.
///Do not forget to check the unit, this may be in radians or meters.
fn xyz_array(&self) -> [f32; 3] {
[
self.x().unwrap_or(0.0),
self.y().unwrap_or(0.0),
self.z().unwrap_or(0.0),
]
}
fn is_pos(&self) -> bool {
false
}
fn is_vel(&self) -> bool {
false
}
fn is_accel(&self) -> bool {
false
}
}
#[derive(Clone, Copy, Debug, Serialize, Deserialize, PartialEq)]
pub enum XYZDataBucket {
Pos(XYZPos),
Vel(XYZVel),
Accel(XYZAccel),
}
impl XYZData for XYZDataBucket {
fn is_pos(&self) -> bool {
matches!(self, Self::Pos(_))
}
fn is_vel(&self) -> bool {
matches!(self, Self::Vel(_))
}
fn is_accel(&self) -> bool {
matches!(self, Self::Accel(_))
}
fn x(&self) -> Option<f32> {
match self {
Self::Pos(p) => p.x(),
Self::Vel(v) => v.x(),
Self::Accel(a) => a.x(),
}
}
fn y(&self) -> Option<f32> {
match self {
Self::Pos(p) => p.y(),
Self::Vel(v) => v.y(),
Self::Accel(a) => a.y(),
}
}
fn z(&self) -> Option<f32> {
match self {
Self::Pos(p) => p.z(),
Self::Vel(v) => v.z(),
Self::Accel(a) => a.z(),
}
}
fn unit(&self) -> Unit {
match self {
Self::Pos(p) => p.unit(),
Self::Vel(v) => v.unit(),
Self::Accel(a) => a.unit(),
}
}
}
///Represents the unit this position struct is carrying. Combining the Unit + Trait it impls lets you determine what this message contains
/// If you need to send a unit not listed here please use Unit::Custom
#[derive(Serialize, Deserialize, Clone, Copy, PartialEq, Eq, Debug)]
pub enum Unit {
Meters,
Radians,
Custom,
}
src/core/units.rs
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use serde::{Deserialize, Serialize};
///Standard conversion constant to convert to micro from base unit
pub const TO_MICRO: f32 = 1_000_000.0;
///Standard conversion constant to convert from micro to base unit;
pub const FROM_MICRO: f32 = 1.0 / 1_000_000.0;
///Standard conversion constant to convert to milli from base unit;
pub const TO_MILLI: f32 = 1_000.0;
///Standard conversion constant to convert from milli to base unit;
pub const FROM_MILLI: f32 = 1.0 / 1_000.0;
///Standard way for the RNavP system to transfer around Current measurements.
/// This system by default uses Amps as f32.
/// Offers MilliAmps and MicroAmps for utilizing higher precision raw data for when needed.
/// Implements all needed conversions for handling f32 into and from this data type.
/// Uses Amps by default, please use MicroAmps and MilliVolts when needed for higher precision.
#[derive(Copy, Clone, Debug, PartialEq, Serialize, Deserialize)]
pub enum Current {
Amps(f32),
MilliAmps(i32),
MicroAmps(i32),
}
impl From<f32> for Current {
fn from(value: f32) -> Self {
Self::Amps(value)
}
}
impl Into<f32> for Current {
fn into(self) -> f32 {
match self {
Self::MicroAmps(micro) => micro as f32 * FROM_MICRO,
Self::MilliAmps(milli) => milli as f32 * FROM_MILLI,
Self::Amps(amps) => amps,
}
}
}
///Standard way for the RNavP system to transfer around voltage measurements.
/// This system by default uses Volts as f32.
/// Offers MilliVolts and MicroVolts for utilizing higher precison raw data for when needed.
/// Implements all needed conversions for handling f32 into and from this dataType.
/// Uses Volts by default, please use MicroVolts and MilliVolts when needed for higher precision.
#[derive(Copy, Clone, Debug, PartialEq, Serialize, Deserialize)]
pub enum Voltage {
Volts(f32),
MilliVolts(i32),
MicroVolts(i32),
}
impl From<f32> for Voltage {
fn from(value: f32) -> Self {
Self::Volts(value)
}
}
impl Into<f32> for Voltage {
fn into(self) -> f32 {
match self {
Self::MicroVolts(micro) => micro as f32 * FROM_MICRO,
Self::MilliVolts(milli) => milli as f32 * FROM_MILLI,
Self::Volts(volts) => volts,
}
}
}
///Standard way for the RnavP system for handling angles.
/// The system does use a f32, so no conversions needed.
/// Has methods for returning the wanted unit type regardless of what is stored.
#[derive(Copy, Clone, Debug, PartialEq, Serialize, Deserialize)]
pub enum Angle {
Degrees(f32),
Radians(f32),
}
src/embassy/mod.rs
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#[cfg(feature = "std")]
compile_error!(
"The 'std' feature is enabled, which is incompatible with 'embassy'. \n\
The 'host' feature (enabled by default) turns on 'std'. \n\
Please use '--no-default-features --features embassy' to build for MCU\n\
or verify that you have not included a different feature that requires'std'"
);
src/host/mod.rs
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src/lib.rs
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#![cfg_attr(not(feature = "std"), no_std)]
#[cfg(feature = "std")]
extern crate std;
#[cfg(feature = "core")]
pub mod core;
#[cfg(feature = "embassy")]
pub mod embassy;
#[cfg(feature = "host")]
pub mod host;