Rename VescControl to Motors

Author: taesungh

pod-operation/src/components/mod.rs

@@ -5,7 +5,7 @@ pub mod inverter_board;
 pub mod lidar;
 pub mod lim_current;
 pub mod lim_temperature;
+pub mod motors;
 pub mod pressure_transducer;
 pub mod signal_light;
-pub mod vesc;
 pub mod wheel_encoder;

pod-operation/src/components/vesc.rs renamed to pod-operation/src/components/motors.rs

@@ -10,11 +10,11 @@ const WHEEL_DIAMETER: f32 = 1.5; // inches
 const MPH_TO_IN_PER_MIN: f32 = 1056.0;
 const MPH_TO_RPM: f32 = MPH_TO_IN_PER_MIN / WHEEL_DIAMETER;
 
-pub struct VescControl {
+pub struct Motors {
 	pub vesc: VescConnection<Uart>,
 }
 
-impl VescControl {
+impl Motors {
 	pub fn new(serial_path: &str) -> Self {
 		let uart = Uart::with_path(serial_path, BAUD_RATE, PARITY, DATA_BITS, STOP_BITS).unwrap();
 		let conn = VescConnection::new(uart);

pod-operation/src/demo.rs

@@ -7,9 +7,9 @@ use crate::components::inverter_board::InverterBoard;
 use crate::components::lidar::Lidar;
 use crate::components::lim_current::LimCurrent;
 use crate::components::lim_temperature::LimTemperature;
+use crate::components::motors::Motors;
 use crate::components::pressure_transducer::PressureTransducer;
 use crate::components::signal_light::SignalLight;
-use crate::components::vesc::VescControl;
 use crate::components::wheel_encoder::WheelEncoder;
 
 pub async fn blink(mut signal_light: SignalLight) {
@@ -137,12 +137,12 @@ pub async fn read_lidar(mut lidar: Lidar) {
 	}
 }
 
-pub async fn vesc_control(mut vesc: VescControl) {
+pub async fn vesc_motors(mut motors: Motors) {
 	loop {
-		vesc.set_speed_mph(10.0).unwrap();
+		motors.set_speed_mph(10.0).unwrap();
 		tokio::time::sleep(std::time::Duration::from_millis(1000)).await;
-		println!("{:?}", vesc.vesc.get_fw_version().unwrap());
-		vesc.set_speed_mph(0.0).unwrap();
+		println!("{:?}", motors.vesc.get_fw_version().unwrap());
+		motors.set_speed_mph(0.0).unwrap();
 		tokio::time::sleep(std::time::Duration::from_millis(1000)).await;
 	}
 }

pod-operation/src/main.rs

@@ -15,9 +15,9 @@ use crate::components::inverter_board::InverterBoard;
 use crate::components::lidar::Lidar;
 use crate::components::lim_current::LimCurrent;
 use crate::components::lim_temperature::LimTemperature;
+use crate::components::motors::Motors;
 use crate::components::pressure_transducer::PressureTransducer;
 use crate::components::signal_light::SignalLight;
-use crate::components::vesc::VescControl;
 use crate::components::wheel_encoder::WheelEncoder;
 use crate::state_machine::StateMachine;
 
@@ -64,8 +64,8 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
 	let inverter_board = InverterBoard::new();
 	tokio::spawn(demo::inverter_control(inverter_board));
 
-	let vesc = VescControl::new("/dev/ttyACM0");
-	tokio::spawn(demo::vesc_control(vesc));
+	let motors = Motors::new("/dev/ttyACM0");
+	tokio::spawn(demo::vesc_motors(motors));
 
 	let mut state_machine = StateMachine::new(io);
 	tokio::spawn(async move {