Start adding rust car implementation

car-rs/src/lib.rs

@@ -0,0 +1,56 @@
+use rppal::pwm::{Channel, Pwm};
+
+pub trait Servo {
+    fn get_duty_cycle(&self) -> f64;
+    // TODO: Some kind of error handling here, in case we fail to set the duty cycel
+    fn set_duty_cycle(&self, pwm: f64);
+
+    fn get_frequency(&self) -> f64;
+
+    fn set_frequency(&self, frequency: f64);
+}
+
+pub trait Vechicle<T: Servo> {
+    fn get_throttle_servo() -> T;
+    fn get_steering_servo() -> T;
+}
+
+pub struct RpiPwmServo {
+    pwm: Pwm,
+}
+
+impl RpiPwmServo {
+    pub fn new(pwm: Pwm) -> RpiPwmServo {
+        RpiPwmServo { pwm }
+    }
+}
+
+impl Default for RpiPwmServo {
+    fn default() -> Self {
+        Self {
+            pwm: Pwm::new(Channel::Pwm0).expect("Failed to initialise Pwm servo"),
+        }
+    }
+}
+
+impl Servo for RpiPwmServo {
+    fn get_duty_cycle(&self) -> f64 {
+        self.pwm.duty_cycle().unwrap_or(0.)
+    }
+
+    fn set_duty_cycle(&self, pwm: f64) {
+        self.pwm
+            .set_duty_cycle(pwm)
+            .expect("Failed to write duty cycle");
+    }
+
+    fn get_frequency(&self) -> f64 {
+        self.pwm.duty_cycle().unwrap_or(0.0)
+    }
+
+    fn set_frequency(&self, frequency: f64) {
+        self.pwm
+            .set_frequency(frequency, self.get_duty_cycle())
+            .expect("Failed to set Frequency")
+    }
+}