Struct AxisConfig 

pub struct AxisConfig {
    pub jog_speed: f64,
    pub jog_accel: f64,
    pub jog_decel: f64,
    pub home_position: f64,
    pub homing_speed: f64,
    pub homing_accel: f64,
    pub homing_decel: f64,
    pub enable_max_position_limit: bool,
    pub enable_min_position_limit: bool,
    pub max_position_limit: f64,
    pub min_position_limit: f64,
    /* private fields */
}

Configuration for a single motion axis.

Stores encoder resolution, user-unit scaling, jog defaults, and position limits. Used by Axis internally and also available for direct use (e.g. logging, HMI display).

Examples

use autocore_std::motion::AxisConfig;

// ClearPath with 12,800 counts/rev, user units = degrees
let cfg = AxisConfig::new(12_800).with_user_scale(360.0);
assert!((cfg.to_counts(45.0) - 1600.0).abs() < 0.01);
assert!((cfg.to_user(1600.0) - 45.0).abs() < 0.01);

// mm on a 5 mm/rev ballscrew
let mm = AxisConfig::new(12_800).with_user_scale(5.0);
assert!((mm.to_counts(5.0) - 12800.0).abs() < 0.01);

Fields

jog_speed: f64

Jog speed in user units/s.

jog_accel: f64

Jog acceleration in user units/s².

jog_decel: f64

Jog deceleration in user units/s².

home_position: f64

User-unit position assigned at the home reference point.

homing_speed: f64

Homing search speed in user units/s.

homing_accel: f64

Homing acceleration in user units/s².

homing_decel: f64

Homing deceleration in user units/s².

enable_max_position_limit: bool

Enable the maximum (positive) software position limit.

enable_min_position_limit: bool

Enable the minimum (negative) software position limit.

max_position_limit: f64

Maximum position limit in user units.

min_position_limit: f64

Minimum position limit in user units.

Implementations

impl AxisConfig

pub fn new(counts_per_rev: u32) -> Self

Create a new configuration from encoder resolution.

Default user units are revolutions (1.0 user unit = 1 revolution). Call with_user_scale to change.

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

Set user-units-per-revolution.

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

pub fn to_counts(&self, user_units: f64) -> f64

Convert user units to encoder counts (f64).

to_counts(45.0) on a 12800 cpr / 360° config → 1600.0

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

Convert encoder counts to user units (f64).

to_user(1600.0) on a 12800 cpr / 360° config → 45.0

pub fn counts_per_user(&self) -> f64

Encoder counts per user unit (scale factor).

For 12800 cpr / 360°: counts_per_user() ≈ 35.556

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.