Struct accel_stepper::MultiDriver

pub struct MultiDriver { /* fields omitted */ }

Controller for moving multiple axes in a coordinated fashion.

Methods

impl MultiDriver

pub const MAX_DRIVERS: usize

The maximum number of Drivers that a MultiDriver can manage when compiled without the std feature.

pub fn new() -> MultiDriver

pub fn push_driver(&mut self, driver: Driver)

Add a new Driver to the list of synchronised axes managed by the MultiDriver.

Panics

When compiling without the std feature flag, the MultiDriver can only manage up to MultiDriver::MAX_DRIVERS drivers.

pub fn drivers(&self) -> &[Driver]

pub fn drivers_mut(&mut self) -> &mut [Driver]

pub fn move_to(&mut self, positions: &[i64])

Set the target positions of all managed steppers.

Panics

The number of managed steppers should be the same as the number of positions.

pub fn poll<D, C>(
    &mut self,
    devices: &mut [D],
    clock: &C
) -> Result<(), D::Error> where
    D: Device,
    C: SystemClock, 

Poll the underlying Drivers, emitting steps to the provided Devices when necessary.

Panics

The number of managed steppers should be the same as the number of devices.

pub fn is_running(&self) -> bool

Are any of the managed steppers still running?