inital commit

.gitignore

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+/target
+**/*.rs.bk

Cargo.lock

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+[[package]]
+name = "robotrs"
+version = "0.1.0"
+

Cargo.toml

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+[package]
+name = "robotrs"
+version = "0.1.0"
+authors = ["Alex Mikhalev <alexmikhalevalex@gmail.com>"]
+
+[dependencies]

src/drive.rs

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+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);
+        }
+    }
+}
+

src/main.rs

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+mod robot;
+mod drive;
+mod motor_controller;
+
+use robot::Robot;
+
+fn main() {
+    let mut robot = Robot::new();
+
+    robot.start();
+}

src/mod.rs

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+pub mod robot;
+pub mod drive;
+pub mod motor_controller;

src/motor_controller.rs

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+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);
+    }
+}

src/robot.rs

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+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);
+        }
+    }
+}