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Merged
merged 3 commits into from
Apr 12, 2025
Merged

radar: Support scanning bot orientations #62

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eec5b23
chl-diamond-heist-guard: Add a sanity-check
Patryk27 Apr 9, 2025
fc38feb
radar: Support scanning orientations
Patryk27 Apr 11, 2025
bf75a2b
fmt: Rephrase a couple of `note that`
Patryk27 Apr 11, 2025
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1 change: 1 addition & 0 deletions app/Cargo.lock
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21 changes: 5 additions & 16 deletions app/crates/kartoffel/src/arm.rs
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
use crate::{cmd, rdi, wri, MEM_ARM};
use crate::*;

/// Returns whether the arm is ready and [`arm_stab()`] can be invoked.
///
Expand All @@ -15,12 +15,11 @@ use crate::{cmd, rdi, wri, MEM_ARM};
/// // run, forrest, run!
/// }
/// ```
#[inline(always)]
pub fn is_arm_ready() -> bool {
rdi(MEM_ARM, 0) == 1
}

/// Waits for the arm to become ready.
/// Waits until the arm is ready.
///
/// See also: [`is_arm_ready()`].
///
Expand All @@ -32,7 +31,6 @@ pub fn is_arm_ready() -> bool {
/// arm_wait();
/// arm_stab();
/// ```
#[inline(always)]
pub fn arm_wait() {
while !is_arm_ready() {
//
Expand All @@ -46,9 +44,7 @@ pub fn arm_wait() {
///
/// # Cooldown
///
/// ```text
/// 60_000 +- 15% ticks (~930 ms)
/// ```
/// ~60k ticks (~930 ms)
///
/// # Example
///
Expand All @@ -58,7 +54,6 @@ pub fn arm_wait() {
/// arm_wait();
/// arm_stab();
/// ```
#[inline(always)]
pub fn arm_stab() {
wri(MEM_ARM, 0, cmd(0x01, 0x00, 0x00, 0x00));
}
Expand All @@ -75,9 +70,7 @@ pub fn arm_stab() {
///
/// # Cooldown
///
/// ```text
/// 60_000 +- 15% ticks (~930 ms)
/// ```
/// ~60k ticks (~930 ms)
///
/// # Example
///
Expand All @@ -87,7 +80,6 @@ pub fn arm_stab() {
/// arm_wait();
/// arm_pick();
/// ```
#[inline(always)]
pub fn arm_pick() {
wri(MEM_ARM, 0, cmd(0x02, 0x00, 0x00, 0x00));
}
Expand All @@ -104,9 +96,7 @@ pub fn arm_pick() {
///
/// # Cooldown
///
/// ```text
/// 60_000 +- 15% ticks (~930 ms)
/// ```
/// ~60k ticks (~930 ms)
///
/// # Example
///
Expand All @@ -119,7 +109,6 @@ pub fn arm_pick() {
/// arm_wait();
/// arm_drop(0); // drops whatever got picked before
/// ```
#[inline(always)]
pub fn arm_drop(idx: u8) {
wri(MEM_ARM, 0, cmd(0x03, idx, 0x00, 0x00));
}
3 changes: 1 addition & 2 deletions app/crates/kartoffel/src/battery.rs
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Original file line number Diff line number Diff line change
@@ -1,11 +1,10 @@
use crate::{rdi, MEM_BATTERY};
use crate::*;

/// Returns the remaining battery energy.
///
/// Since battery is not simulated at the moment, this function doesn't come
/// useful.
#[doc(hidden)]
#[inline(always)]
pub fn battery_energy() -> u32 {
rdi(MEM_BATTERY, 0)
}
2 changes: 1 addition & 1 deletion app/crates/kartoffel/src/compass.rs
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
use crate::{rdi, MEM_COMPASS};
use crate::*;

/// Returns which direction the bot was facing at the time of the latest
/// measurement, and then removes that measurement from the compass.
Expand Down
9 changes: 3 additions & 6 deletions app/crates/kartoffel/src/lib.rs
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Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
//! # kartoffel
//!
//! This crate provides building blocks for implementing a bot for the
//! [kartoffels](https://kartoffels.pwy.io) game - see:
//! This crate provides building blocks for implementing a kartoffel bot:
//!
//! <https://github.com/patryk27/kartoffel>
//! - <https://github.com/patryk27/kartoffel>
//! - <https://github.com/patryk27/kartoffels>

#![no_std]

Expand Down Expand Up @@ -37,19 +37,16 @@ const MEM_ARM: *mut u32 = MEM.wrapping_byte_add(4 * 1024);
const MEM_RADAR: *mut u32 = MEM.wrapping_byte_add(5 * 1024);
const MEM_COMPASS: *mut u32 = MEM.wrapping_byte_add(6 * 1024);

#[inline(always)]
fn rdi(ptr: *mut u32, off: usize) -> u32 {
unsafe { ptr::read_volatile(ptr.wrapping_add(off)) }
}

#[inline(always)]
fn wri(ptr: *mut u32, off: usize, val: u32) {
unsafe {
ptr::write_volatile(ptr.wrapping_add(off), val);
}
}

#[inline(always)]
fn cmd(cmd: u8, arg0: u8, arg1: u8, arg2: u8) -> u32 {
u32::from_le_bytes([cmd, arg0, arg1, arg2])
}
Expand Down
36 changes: 11 additions & 25 deletions app/crates/kartoffel/src/motor.rs
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Original file line number Diff line number Diff line change
@@ -1,14 +1,14 @@
use crate::{cmd, rdi, wri, MEM_MOTOR};
use crate::*;

/// Returns whether the motor is ready and [`motor_pulse()`] can be invoked.
/// Returns whether the motor is ready and [`motor_pulse()`] etc. can be
/// invoked.
///
/// See also: [`motor_wait()`].
#[inline(always)]
pub fn is_motor_ready() -> bool {
rdi(MEM_MOTOR, 0) == 1
}

/// Waits for the motor to become ready.
/// Waits until the motor is ready.
///
/// See also: [`is_motor_ready()`].
///
Expand All @@ -24,7 +24,6 @@ pub fn is_motor_ready() -> bool {
/// motor_step_fw();
/// }
/// ```
#[inline(always)]
pub fn motor_wait() {
while !is_motor_ready() {
//
Expand All @@ -40,10 +39,10 @@ pub fn motor_wait() {
/// - `(-1, 1)` - bot turns left (counterclockwise),
/// - `(1, -1)` - bot turns right (clockwise).
///
/// Other values will cause the CPU to crash.
/// Other values will cause the firmware to crash.
///
/// Note that this is a low-level function - for convenience you'll most likely
/// want to use one of:
/// This is a low-level function - for convenience you'll most likely/ want to
/// use one of:
///
/// - [`motor_step_fw()`],
/// - [`motor_step_bw()`],
Expand All @@ -58,7 +57,6 @@ pub fn motor_wait() {
/// - [`motor_step_bw()`],
/// - [`motor_turn_left()`],
/// - [`motor_turn_right()`],
#[inline(always)]
pub fn motor_pulse(left: i8, right: i8) {
wri(MEM_MOTOR, 0, cmd(0x01, left as u8, right as u8, 0x00));
}
Expand All @@ -69,9 +67,7 @@ pub fn motor_pulse(left: i8, right: i8) {
///
/// # Cooldown
///
/// ```text
/// 20_000 +- 15% ticks (~310 ms)
/// ```
/// ~20k ticks (~310 ms)
///
/// # Example
///
Expand All @@ -81,7 +77,6 @@ pub fn motor_pulse(left: i8, right: i8) {
/// motor_wait();
/// motor_step_fw();
/// ```
#[inline(always)]
pub fn motor_step_fw() {
motor_pulse(1, 1);
}
Expand All @@ -92,9 +87,7 @@ pub fn motor_step_fw() {
///
/// # Cooldown
///
/// ```text
/// 30_000 +- 15% ticks (~468 ms)
/// ```
/// ~30k ticks (~468 ms)
///
/// # Example
///
Expand All @@ -104,7 +97,6 @@ pub fn motor_step_fw() {
/// motor_wait();
/// motor_step_bw();
/// ```
#[inline(always)]
pub fn motor_step_bw() {
motor_pulse(-1, -1);
}
Expand All @@ -115,9 +107,7 @@ pub fn motor_step_bw() {
///
/// # Cooldown
///
/// ```text
/// 25_000 +- 15% ticks (~390 ms)
/// ```
/// ~25k ticks (~390 ms)
///
/// # Example
///
Expand All @@ -127,7 +117,6 @@ pub fn motor_step_bw() {
/// motor_wait();
/// motor_turn_left();
/// ```
#[inline(always)]
pub fn motor_turn_left() {
motor_pulse(-1, 1);
}
Expand All @@ -138,9 +127,7 @@ pub fn motor_turn_left() {
///
/// # Cooldown
///
/// ```text
/// 25_000 +- 15% ticks (~390 ms)
/// ```
/// ~25k ticks (~390 ms)
///
/// # Example
///
Expand All @@ -150,7 +137,6 @@ pub fn motor_turn_left() {
/// motor_wait();
/// motor_turn_right();
/// ```
#[inline(always)]
pub fn motor_turn_right() {
motor_pulse(1, -1);
}
2 changes: 1 addition & 1 deletion app/crates/kartoffel/src/panic.rs
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
use crate::Serial;
use crate::*;
use core::fmt::Write;
use core::panic::PanicInfo;

Expand Down
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