Double Sided

src/main.rs

@@ -1,6 +1,6 @@
 use rppal::gpio::{Gpio, OutputPin};
 use rppal::pwm::{Pwm, Channel, Polarity};
-use std::error::Error;
+use std::{error::Error, thread, time::Duration};
 
 struct Motor {
     in1: OutputPin,
@@ -31,20 +31,35 @@ impl Motor {
 fn main() -> Result<(), Box<dyn Error>> {
     let gpio = Gpio::new()?;
 
-    let in1 = gpio.get(27)?.into_output();
+    // LEFT
-    let in2 = gpio.get(22)?.into_output();
+    let left = Motor {
+        in1: gpio.get(27)?.into_output(),
+        in2: gpio.get(22)?.into_output(),
+        pwm: Pwm::with_frequency(Channel::Pwm0, 1000.0, 0.0, Polarity::Normal, true)?,
+    };
 
-    let pwm = Pwm::with_frequency(
+    // RIGHT
-        Channel::Pwm0,
+    let right = Motor {
-        1000.0,
+        in1: gpio.get(23)?.into_output(),
-        0.0,
+        in2: gpio.get(24)?.into_output(),
-        Polarity::Normal,
+        pwm: Pwm::with_frequency(Channel::Pwm1, 1000.0, 0.0, Polarity::Normal, true)?,
-        true,
+    };
-    )?;
 
-    let mut left_motor = Motor { in1, in2, pwm };
+    let mut left = left;
+    let mut right = right;
 
-    left_motor.forward(0.7);
+    // Test: Forward 3 seconds
+    left.forward(1.0);
+    right.forward(1.0);
+    thread::sleep(Duration::from_secs(3));
+
+    left.backward(0.6);
+    right.backward(0.6);
+    thread::sleep(Duration::from_secs(2));
+
+    // Stop
+    left.stop();
+    right.stop();
 
     Ok(())
 }