From 7de0ea40c6e7aa6f3b3617314ca44995f21b0b6d Mon Sep 17 00:00:00 2001
From: Alex Mikhalev <alexmikhalevalex@gmail.com>
Date: Sun, 16 Sep 2018 23:26:48 -0600
Subject: [PATCH] inital commit

---
 .gitignore              |  2 ++
 Cargo.lock              |  4 ++++
 Cargo.toml              |  6 ++++++
 src/drive.rs            | 29 +++++++++++++++++++++++++++++
 src/main.rs             | 11 +++++++++++
 src/mod.rs              |  3 +++
 src/motor_controller.rs | 24 ++++++++++++++++++++++++
 src/robot.rs            | 21 +++++++++++++++++++++
 8 files changed, 100 insertions(+)
 create mode 100644 .gitignore
 create mode 100644 Cargo.lock
 create mode 100644 Cargo.toml
 create mode 100644 src/drive.rs
 create mode 100644 src/main.rs
 create mode 100644 src/mod.rs
 create mode 100644 src/motor_controller.rs
 create mode 100644 src/robot.rs

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..53eaa21
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,2 @@
+/target
+**/*.rs.bk
diff --git a/Cargo.lock b/Cargo.lock
new file mode 100644
index 0000000..dc90fae
--- /dev/null
+++ b/Cargo.lock
@@ -0,0 +1,4 @@
+[[package]]
+name = "robotrs"
+version = "0.1.0"
+
diff --git a/Cargo.toml b/Cargo.toml
new file mode 100644
index 0000000..a8d8558
--- /dev/null
+++ b/Cargo.toml
@@ -0,0 +1,6 @@
+[package]
+name = "robotrs"
+version = "0.1.0"
+authors = ["Alex Mikhalev <alexmikhalevalex@gmail.com>"]
+
+[dependencies]
diff --git a/src/drive.rs b/src/drive.rs
new file mode 100644
index 0000000..fad0fbe
--- /dev/null
+++ b/src/drive.rs
@@ -0,0 +1,29 @@
+use motor_controller::MotorControllerBox;
+use motor_controller::MockMotorController;
+
+pub struct Drive {
+    left_motors: Vec<MotorControllerBox>,
+    right_motors: Vec<MotorControllerBox>,
+}
+
+fn create_motor_controllers<T: Iterator<Item = u16>>(ids: T) -> Vec<MotorControllerBox> {
+    ids.map(MockMotorController::new_id).map(|m| Box::new(m) as MotorControllerBox).collect()
+}
+
+impl Drive {
+    pub fn new() -> Self {
+        let left_motors = create_motor_controllers(0u16..4);
+        let right_motors = create_motor_controllers(4u16..8);
+        Drive { left_motors, right_motors }
+    }
+
+    pub fn drive_powers(&mut self, left_power: f64, right_power: f64) {
+        for motor in &mut self.left_motors {
+            motor.set(left_power);
+        }
+        for motor in &mut self.right_motors {
+            motor.set(right_power);
+        }
+    }
+}
+
diff --git a/src/main.rs b/src/main.rs
new file mode 100644
index 0000000..1d4a7a0
--- /dev/null
+++ b/src/main.rs
@@ -0,0 +1,11 @@
+mod robot;
+mod drive;
+mod motor_controller;
+
+use robot::Robot;
+
+fn main() {
+    let mut robot = Robot::new();
+
+    robot.start();
+}
diff --git a/src/mod.rs b/src/mod.rs
new file mode 100644
index 0000000..fd07071
--- /dev/null
+++ b/src/mod.rs
@@ -0,0 +1,3 @@
+pub mod robot;
+pub mod drive;
+pub mod motor_controller;
diff --git a/src/motor_controller.rs b/src/motor_controller.rs
new file mode 100644
index 0000000..25f0549
--- /dev/null
+++ b/src/motor_controller.rs
@@ -0,0 +1,24 @@
+pub trait MotorController {
+    fn set(&mut self, value: f64);
+}
+
+pub type MotorControllerBox = Box<dyn MotorController>;
+
+pub struct MockMotorController {
+    id: u16,
+    value: f64,
+}
+
+impl MockMotorController {
+    pub fn new_id(id: u16) -> Self {
+        MockMotorController{ id: id, value: 0.0 }
+    }
+}
+
+impl MotorController for MockMotorController {
+
+    fn set(&mut self, value: f64) {
+        self.value = value;
+        println!("MotorController id {} value={}", self.id, self.value);
+    }
+}
diff --git a/src/robot.rs b/src/robot.rs
new file mode 100644
index 0000000..1d99824
--- /dev/null
+++ b/src/robot.rs
@@ -0,0 +1,21 @@
+use drive::Drive;
+
+pub struct Robot {
+    drive: Drive,
+}
+
+impl Robot {
+    pub fn new() -> Self {
+        Robot{ 
+            drive: Drive::new(),
+        }
+    }
+
+    pub fn start(&mut self) {
+        println!("Starting RobotRS");
+
+        for _ in 0..10 {
+            self.drive.drive_powers(1.0, 1.0);
+        }
+    }
+}