From 59e405cb884d44ee0a0a28ca5c353fa93dae9e24 Mon Sep 17 00:00:00 2001
From: Fast-Blast <main+github@fast-blast.uk>
Date: Thu, 26 Mar 2026 18:09:12 +0100
Subject: [PATCH] Added more modularity and config.

---
 src/config.rs | 19 +++++++++++++++++++
 src/main.rs   | 42 +++++++++++++++++-------------------------
 src/motors.rs | 29 +++++++++++++++++++++++++++++
 3 files changed, 65 insertions(+), 25 deletions(-)
 create mode 100644 src/config.rs
 create mode 100644 src/motors.rs

diff --git a/src/config.rs b/src/config.rs
new file mode 100644
index 0000000..9f8bd07
--- /dev/null
+++ b/src/config.rs
@@ -0,0 +1,19 @@
+pub struct Config {
+    // Wheel GPIO pins.
+    pub left1: u8,
+    pub left2: u8,
+    pub right1: u8,
+    pub right2: u8
+}
+
+impl Config {
+    pub fn new() -> Self {
+        Self {
+            // Wheel GPIO pins.
+            left1: 27,
+            left2: 22,
+            right1: 23,
+            right2: 24
+        }
+    }
+}
diff --git a/src/main.rs b/src/main.rs
index 2f5fa63..d42e06f 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,34 +1,26 @@
-use rppal::gpio::{Gpio, OutputPin};
+// External libraries.
+use rppal::gpio::{Gpio};
 use rppal::pwm::{Pwm, Channel, Polarity};
 use std::{error::Error, thread, time::Duration};
 
-struct Motor {
-    in1: OutputPin,
-    in2: OutputPin,
-    pwm: Pwm,
-}
+// Own libraries.
+mod motors;
+use motors::Motor;
 
-impl Motor {
-    fn forward(&mut self, speed: f64) {
-        self.in1.set_high();
-        self.in2.set_low();
-        self.pwm.set_duty_cycle(speed).unwrap();
-    }
-
-    fn backward(&mut self, speed: f64) {
-        self.in1.set_low();
-        self.in2.set_high();
-        self.pwm.set_duty_cycle(speed).unwrap();
-    }
-
-    fn stop(&mut self) {
-        self.in1.set_low();
-        self.in2.set_low();
-        self.pwm.set_duty_cycle(0.0).unwrap();
-    }
-}
+// Config
+mod config;
+use config::Config;
 
 fn main() -> Result<(), Box<dyn Error>> {
+    let config = Config::new();
+    println!(
+        "Starting with GPIO pins:\n - Motors\n   - Right 1: {}\n   - Right 2: {}\n   - Left 1: {}\n   - Left 2: {}",
+        config.right1,
+        config.right2,
+        config.left1,
+        config.left2
+    );
+
     let gpio = Gpio::new()?;
 
     // LEFT
diff --git a/src/motors.rs b/src/motors.rs
new file mode 100644
index 0000000..33430a4
--- /dev/null
+++ b/src/motors.rs
@@ -0,0 +1,29 @@
+use rppal::gpio::OutputPin;
+use rppal::pwm::Pwm;
+
+pub struct Motor {
+    pub in1: OutputPin,
+    pub in2: OutputPin,
+    pub pwm: Pwm,
+}
+
+
+impl Motor {
+    pub fn forward(&mut self, speed: f64) {
+        self.in1.set_high();
+        self.in2.set_low();
+        self.pwm.set_duty_cycle(speed).unwrap();
+    }
+
+    pub fn backward(&mut self, speed: f64) {
+        self.in1.set_low();
+        self.in2.set_high();
+        self.pwm.set_duty_cycle(speed).unwrap();
+    }
+
+    pub fn stop(&mut self) {
+        self.in1.set_low();
+        self.in2.set_low();
+        self.pwm.set_duty_cycle(0.0).unwrap();
+    }
+}