Struct AxisConfig 

pub struct AxisConfig { /* private fields */ }

Unit conversion for a rotary/linear axis with a known encoder resolution.

Stores the encoder’s counts-per-revolution and an optional user-unit scale (e.g. 360.0 for degrees, 5.0 for mm-per-rev on a ballscrew). All conversion methods are pure arithmetic — no state, no side effects.

Examples

use autocore_std::ethercat::AxisConfig;

// Revolutions (default)
let cfg = AxisConfig::new(12_800);
assert_eq!(cfg.rev(0.125), 1_600);
assert_eq!(cfg.rev(1.0), 12_800);

// Degrees
let deg = AxisConfig::new(12_800).with_user_scale(360.0);
assert_eq!(deg.user(45.0), 1_600);
assert_eq!(deg.user(360.0), 12_800);

// mm on a 5 mm/rev ballscrew
let mm = AxisConfig::new(12_800).with_user_scale(5.0);
assert_eq!(mm.user(5.0), 12_800);
assert_eq!(mm.user(2.5), 6_400);

Implementations

impl AxisConfig

pub const fn new(counts_per_rev: u32) -> Self

Create from encoder resolution (e.g. 12_800 counts/rev). Default user units = revolutions (1.0 user unit = 1 revolution).

pub const fn with_user_scale(self, user_per_rev: f64) -> Self

Set user-units-per-revolution for application-specific units.

• Degrees: .with_user_scale(360.0)
• mm on 5 mm/rev ballscrew: .with_user_scale(5.0)

pub fn rev(&self, revolutions: f64) -> i32

Convert revolutions to encoder counts (position).

pub fn rps(&self, rev_per_sec: f64) -> u32

Convert rev/s to counts/s (velocity).

pub fn rps2(&self, rev_per_sec2: f64) -> u32

Convert rev/s² to counts/s² (acceleration).

pub fn user(&self, units: f64) -> i32

Convert user units to encoder counts (position).

pub fn user_per_s(&self, units_per_sec: f64) -> u32

Convert user-units/s to counts/s (velocity).

pub fn user_per_s2(&self, units_per_sec2: f64) -> u32

Convert user-units/s² to counts/s² (acceleration).

pub fn to_rev(&self, counts: i32) -> f64

Convert encoder counts to revolutions.

pub fn to_rps(&self, counts_per_sec: u32) -> f64

Convert counts/s to rev/s.

pub fn to_user(&self, counts: i32) -> f64

Convert encoder counts to user units.

pub fn to_user_per_s(&self, counts_per_sec: u32) -> f64

Convert counts/s to user-units/s.

Trait Implementations

impl Clone for AxisConfig

fn clone(&self) -> AxisConfig

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for AxisConfig

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Copy for AxisConfig