initial

src/main.rs

@@ -0,0 +1,88 @@
+mod motor;
+
+use crate::motor::{Motor, MotorConfig, MotorPinMappings, MotorPins};
+use clap::{Parser, Subcommand};
+use std::sync::atomic::{AtomicBool, Ordering};
+use std::time::Duration;
+
+#[derive(Parser)]
+struct Opt {
+    #[clap(subcommand)]
+    command: Command,
+}
+
+#[derive(Subcommand)]
+enum Command {
+    /// Reset motor pins, making sure the motor is off
+    Reset,
+
+    /// Turn the motor
+    Turn {
+        /// The direction to turn
+        #[clap(subcommand)]
+        direction: Direction,
+
+        /// The number of full stepper motor steps to turn, if not specified the motor will turn
+        /// forever
+        #[clap(long, short)]
+        steps: Option<usize>,
+
+        /// The time in milliseconds between each tick of the stepper motor
+        #[clap(long, short, default_value = "7")]
+        motor_sleep_time: u64,
+    },
+}
+
+#[derive(Clone, Copy, Subcommand)]
+pub enum Direction {
+    Left,
+    Right,
+}
+
+fn main() {
+    let opt = Opt::parse();
+    let exit = Box::leak(Box::new(AtomicBool::new(false)));
+
+    ctrlc::set_handler(|| {
+        exit.store(true, Ordering::Release);
+    })
+    .expect("Error setting Ctrl-C handler");
+
+    let pi = wiringpi::setup();
+
+    const PIN_MAPPINGS: MotorPinMappings = [0, 2, 3, 4];
+
+    match &opt.command {
+        Command::Reset => {
+            let _ = MotorPins::new(&pi, PIN_MAPPINGS);
+        }
+        Command::Turn {
+            direction,
+            steps,
+            motor_sleep_time,
+        } => {
+            let motor_config = MotorConfig {
+                pin_mappings: PIN_MAPPINGS,
+                sleep_time: Duration::from_millis(*motor_sleep_time),
+            };
+
+            let mut motor = Motor::new(&pi, &motor_config);
+            for i in 0.. {
+                if exit.load(Ordering::Acquire) {
+                    break;
+                }
+
+                motor.spin_step(*direction);
+                if i % 100 == 0 {
+                    println!("{i}");
+                }
+
+                if let Some(steps) = steps {
+                    if i >= *steps {
+                        break;
+                    }
+                }
+            }
+        }
+    }
+}