airsim_client/types/
pwm.rs

1#[derive(Debug, Clone, Copy)]
2pub struct PWM {
3    /// PWM value for the front right motor (between 0.0 to 1.0)
4    pub front_right_pwm: f32,
5    /// PWM value for the rear left motor (between 0.0 to 1.0)
6    pub rear_left_pwm: f32,
7    /// PWM value for the front left motor (between 0.0 to 1.0)
8    pub front_left_pwm: f32,
9    /// PWM value for the rear right motor (between 0.0 to 1.0)
10    pub rear_right_pwm: f32,
11}
12
13impl PWM {
14    pub fn new(front_right_pwm: f32, rear_left_pwm: f32, front_left_pwm: f32, rear_right_pwm: f32) -> Self {
15        if front_right_pwm.is_sign_negative() || front_right_pwm > 1.0 {
16            panic!("front_right_pwm outside of valid range 0.0 to 1.0")
17        }
18
19        if rear_left_pwm.is_sign_negative() || rear_left_pwm > 1.0 {
20            panic!("rear_left_pwm outside of valid range 0.0 to 1.0")
21        }
22
23        if front_left_pwm.is_sign_negative() || front_left_pwm > 1.0 {
24            panic!("front_left_pwm outside of valid range 0.0 to 1.0")
25        }
26
27        if rear_right_pwm.is_sign_negative() || rear_right_pwm > 1.0 {
28            panic!("rear_right_pwm outside of valid range 0.0 to 1.0")
29        }
30
31        Self {
32            front_right_pwm,
33            rear_left_pwm,
34            front_left_pwm,
35            rear_right_pwm,
36        }
37    }
38}
39
40#[cfg(test)]
41mod tests {
42    use crate::PWM;
43
44    #[test]
45    #[should_panic]
46    fn test_pwm_range() {
47        PWM::new(-1.0, 0.1, 0.1, 0.1);
48    }
49}
airsim_client/types/pwm.rs

airsim_client/types/
pwm.rs
