src/channel_state.rs

@@ -1,8 +1,8 @@
 use crate::{
     ad7172, b_parameter as bp,
     command_parser::{CenterPoint, Polarity},
-    config::PwmLimits,
     pid,
+    pwm_limits::PwmLimits,
 };
 use num_traits::Zero;
 use smoltcp::time::{Duration, Instant};

src/config.rs

@@ -4,10 +4,11 @@ use crate::{
     channels::Channels,
     command_parser::{CenterPoint, Polarity},
     pid,
+    pwm_limits::PwmLimits,
 };
 use num_traits::Zero;
 use serde::{Deserialize, Serialize};
-use uom::si::f64::{ElectricCurrent, ElectricPotential};
+use uom::si::f64::ElectricCurrent;
 
 #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
 pub struct ChannelConfig {
@@ -71,29 +72,3 @@ impl ChannelConfig {
         channels.set_polarity(channel, self.polarity.clone());
     }
 }
-
-#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
-pub struct PwmLimits {
-    pub max_v: ElectricPotential,
-    pub max_i_pos: ElectricCurrent,
-    pub max_i_neg: ElectricCurrent,
-}
-
-impl PwmLimits {
-    pub fn new(channels: &mut Channels, channel: usize) -> Self {
-        let max_v = channels.get_max_v(channel);
-        let max_i_pos = channels.get_max_i_pos(channel);
-        let max_i_neg = channels.get_max_i_neg(channel);
-        PwmLimits {
-            max_v,
-            max_i_pos,
-            max_i_neg,
-        }
-    }
-
-    pub fn apply(&self, channels: &mut Channels, channel: usize) {
-        channels.set_max_v(channel, self.max_v);
-        channels.set_max_i_pos(channel, self.max_i_pos);
-        channels.set_max_i_neg(channel, self.max_i_neg);
-    }
-}

src/main.rs

@@ -38,6 +38,7 @@ use command_parser::Ipv4Config;
 mod b_parameter;
 mod channels;
 mod pid;
+mod pwm_limits;
 mod timer;
 use channels::{Channels, CHANNELS};
 mod channel;

src/pwm_limits.rs

@@ -0,0 +1,26 @@
+use crate::channels::Channels;
+use serde::{Deserialize, Serialize};
+use uom::si::f64::{ElectricCurrent, ElectricPotential};
+
+#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
+pub struct PwmLimits {
+    pub max_v: ElectricPotential,
+    pub max_i_pos: ElectricCurrent,
+    pub max_i_neg: ElectricCurrent,
+}
+
+impl PwmLimits {
+    pub fn new(channels: &mut Channels, channel: usize) -> Self {
+        PwmLimits {
+            max_v: channels.get_max_v(channel),
+            max_i_pos: channels.get_max_i_pos(channel),
+            max_i_neg: channels.get_max_i_neg(channel),
+        }
+    }
+
+    pub fn apply(&self, channels: &mut Channels, channel: usize) {
+        channels.set_max_v(channel, self.max_v);
+        channels.set_max_i_pos(channel, self.max_i_pos);
+        channels.set_max_i_neg(channel, self.max_i_neg);
+    }
+}