Merge pull request #37 from ripytide/error_propagation

Add error propagation from the `embedded_hal` functions

Author: rursprung

CHANGELOG.md

@@ -7,13 +7,29 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 <!-- next-header -->
 ## [Unreleased] - ReleaseDate
 ### Changed
+
 * `Motor::new()` and `Driver::new()` methods now set the outputs upon their
   initialisation to the documented defaults.
+* `Motor::new()` and `Driver::new()` methods now also return errors if they fail
+  to set their outputs upon initialisation.
 * Breaking: update to `embedded-hal` 1.0
+* Renamed error types to their struct names
+* Renamed `DriveCommand::Backwards` to `DriveCommand::Backward` to match
+  `DriveCommand::Forward`
+
+### Removed
+
+* Removed the `drive_forward`, `drive_backward`, `stop` and `brake`
+  functions as they are duplicates to the `drive` function with the
+  different enum variants and make the API surface larger
 
 ## [0.2.0] - 2023-11-28
+
 ### Changed
-* Due to dependency updates the MSRV has been updated from 1.60 to 1.63. This should only be relevant if you use the `defmt` feature, but we now only test with 1.63 and not older releases, so it's not guaranteed to work otherwise.
+
+* Due to dependency updates the MSRV has been updated from 1.60 to 1.63. This
+  should only be relevant if you use the `defmt` feature, but we now only test
+  with 1.63 and not older releases, so it's not guaranteed to work otherwise.
 * Breaking: the API was migrated from `embedded-hal:0.2` to `embedded-hal:1.0.0-rc1`.
   If your HAL does not yet implement this, then please use the previous release of the library.
 

examples/stm32f4-single-motor-example/src/main.rs

@@ -52,8 +52,8 @@ mod app {
             .pwm_hz(Channel3::new(gpiob.pb10), 100.kHz(), &clocks)
             .split();
         motor_pwm.enable();
-        let mut motor = Motor::new(motor_in1, motor_in2, motor_pwm);
-        motor.drive_backwards(0).expect("");
+        let mut motor = Motor::new(motor_in1, motor_in2, motor_pwm).unwrap();
+        motor.drive(DriveCommand::Backward(0)).unwrap();
 
         // set up the button
         let mut button = gpioc.pc13.into_pull_down_input();
@@ -103,20 +103,20 @@ mod app {
                     }
                     0 => {
                         *motor_ramp_direction = 1;
-                        DriveCommand::Backwards(1)
+                        DriveCommand::Backward(1)
                     }
                     _ => DriveCommand::Forward((*speed as i8 + *motor_ramp_direction) as u8),
                 },
-                DriveCommand::Backwards(speed) => match speed {
+                DriveCommand::Backward(speed) => match speed {
                     100 => {
                         *motor_ramp_direction = -1;
-                        DriveCommand::Backwards(99)
+                        DriveCommand::Backward(99)
                     }
                     0 => {
                         *motor_ramp_direction = 1;
                         DriveCommand::Forward(1)
                     }
-                    _ => DriveCommand::Backwards((*speed as i8 + *motor_ramp_direction) as u8),
+                    _ => DriveCommand::Backward((*speed as i8 + *motor_ramp_direction) as u8),
                 },
                 DriveCommand::Stop | DriveCommand::Brake => {
                     return;
@@ -140,16 +140,16 @@ mod app {
             .lock(|motor| match motor.current_drive_command() {
                 DriveCommand::Stop => {
                     defmt::info!("motor stopped => applying brake");
-                    motor.brake();
+                    motor.drive(DriveCommand::Brake).unwrap();
                 }
                 DriveCommand::Brake => {
                     defmt::info!("brake was on => starting the motor again");
-                    motor.drive_backwards(0).expect("");
+                    motor.drive(DriveCommand::Backward(0)).unwrap();
                     update_motor_speed::spawn_after(100.millis()).ok();
                 }
                 _ => {
                     defmt::info!("was driving so far => stopping the motor");
-                    motor.stop();
+                    motor.drive(DriveCommand::Stop).unwrap();
                 }
             });
     }