Struct MultiDriver

pub struct MultiDriver { /* private fields */ }

Controller for moving multiple axes in a coordinated fashion.

Implementations

impl MultiDriver

pub const MAX_DRIVERS: usize = 10usize

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?