Struct drv8825::motion_control::SoftwareMotionControl

pub struct SoftwareMotionControl<Driver, Timer, Profile, Convert, const TIMER_HZ: u32> where
    Profile: MotionProfile, { /* private fields */ }

Software implementation of motion control capability

Some driver natively support motion control capability. This is a software implementation of the MotionControl trait for those drivers that don’t. It wraps a driver that implements SetDirection and Step, and in turn acts like a driver itself, adding to the wrapped driver’s capabilities.

You can use SoftwareMotionControl directly, but like a driver, it is designed to be used through the Stepper API.

Implementations

impl<Driver, Timer, Profile, Convert, const TIMER_HZ: u32> SoftwareMotionControl<Driver, Timer, Profile, Convert, TIMER_HZ> where
    Profile: MotionProfile, 

pub fn new(
    driver: Driver,
    timer: Timer,
    profile: Profile,
    convert: Convert
) -> SoftwareMotionControl<Driver, Timer, Profile, Convert, TIMER_HZ>

Construct a new instance of SoftwareMotionControl

Instead of using this constructor directly, you can instead use Stepper::enable_motion_control with any driver that implements SetDirection and Step, providing timer and a motion profile. This module provides a blanket implementation of EnableMotionControl to make this work.

pub fn driver(&self) -> Option<&Driver>

Access a reference to the wrapped driver

This is only possible if there is no ongoing movement.

pub fn driver_mut(&mut self) -> Option<&mut Driver>

Access a mutable reference to the wrapped driver

This is only possible if there is no ongoing movement.

pub fn timer(&self) -> Option<&Timer>

Access a reference to the wrapped timer

This is only possible if there is no ongoing movement.

pub fn timer_mut(&mut self) -> Option<&mut Timer>

Access a mutable reference to the wrapped timer

This is only possible if there is no ongoing movement.

pub fn profile(&self) -> &Profile

Access a reference to the wrapped motion profile

pub fn profile_mut(&mut self) -> &mut Profile

Access a mutable reference to the wrapped motion profile

pub fn current_step(&self) -> i32

Access the current step

pub fn current_direction(&self) -> Direction

Access the current direction

pub fn set_step_mode(
    &mut self,
    step_mode: <Driver as SetStepMode>::StepMode
) -> Result<SetStepModeFuture<RefMut<'_, Driver>, RefMut<'_, Timer>, TIMER_HZ>, BusyError<Infallible>> where
    Driver: SetStepMode,
    Timer: Timer<TIMER_HZ>, 

Set step mode of the wrapped driver

This method is a more convenient alternative to Stepper::set_step_mode, which requires a timer, while this methods reuses the timer that SoftwareMotionControl already owns.

However, while Stepper::set_step_mode is part of the generic API, this method is only available, if you statically know that you’re working with a driver wrapped by SoftwareMotionControl.

Errors

Returns BusyError::Busy, if a motion is ongoing.

pub fn set_direction(
    &mut self,
    direction: Direction
) -> Result<SetDirectionFuture<RefMut<'_, Driver>, RefMut<'_, Timer>, TIMER_HZ>, BusyError<Infallible>> where
    Driver: SetDirection,
    Timer: Timer<TIMER_HZ>, 

Set direction of the wrapped driver

This method is a more convenient alternative to Stepper::set_direction, which requires a timer, while this methods reuses the timer that SoftwareMotionControl already owns.

However, while Stepper::set_direction is part of the generic API, this method is only available, if you statically know that you’re working with a driver wrapped by SoftwareMotionControl.

Errors

Returns BusyError::Busy, if a motion is ongoing.

pub fn step(
    &mut self
) -> Result<StepFuture<RefMut<'_, Driver>, RefMut<'_, Timer>, TIMER_HZ>, BusyError<Infallible>> where
    Driver: Step,
    Timer: Timer<TIMER_HZ>, 

Tell the wrapped driver to move the motor one step

This method is a more convenient alternative to Stepper::step, which requires a timer, while this methods reuses the timer that SoftwareMotionControl already owns.

However, while Stepper::step is part of the generic API, this method is only available, if you statically know that you’re working with a driver wrapped by SoftwareMotionControl.

Errors

Returns BusyError::Busy, if a motion is ongoing.

Trait Implementations

impl<Driver, Timer, Profile, Convert, const TIMER_HZ: u32> MotionControl for SoftwareMotionControl<Driver, Timer, Profile, Convert, TIMER_HZ> where
    Driver: SetDirection + Step,
    Profile: MotionProfile,
    Timer: Timer<TIMER_HZ>,
    Convert: DelayToTicks<<Profile as MotionProfile>::Delay, TIMER_HZ>,
    <Profile as MotionProfile>::Velocity: Copy, 

type Velocity = <Profile as MotionProfile>::Velocity

The type used by the driver to represent velocity

type Error = Error<<Driver as SetDirection>::Error, <<Driver as SetDirection>::Dir as ErrorType>::Error, <Driver as Step>::Error, <<Driver as Step>::Step as ErrorType>::Error, <Timer as Timer<TIMER_HZ>>::Error, <Convert as DelayToTicks<<Profile as MotionProfile>::Delay, TIMER_HZ>>::Error>

The type error that can happen when using this trait

fn move_to_position(
    &mut self,
    max_velocity: <SoftwareMotionControl<Driver, Timer, Profile, Convert, TIMER_HZ> as MotionControl>::Velocity,
    target_step: i32
) -> Result<(), <SoftwareMotionControl<Driver, Timer, Profile, Convert, TIMER_HZ> as MotionControl>::Error>

Move to the given position

fn reset_position(
    &mut self,
    step: i32
) -> Result<(), <SoftwareMotionControl<Driver, Timer, Profile, Convert, TIMER_HZ> as MotionControl>::Error>

Reset internal position to the given value

fn update(
    &mut self
) -> Result<bool, <SoftwareMotionControl<Driver, Timer, Profile, Convert, TIMER_HZ> as MotionControl>::Error>

Update an ongoing motion

impl<Driver, Timer, Profile, Convert, const TIMER_HZ: u32> SetDirection for SoftwareMotionControl<Driver, Timer, Profile, Convert, TIMER_HZ> where
    Driver: SetDirection,
    Profile: MotionProfile, 

const SETUP_TIME: Duration<u32, 1, 1000000000> = Driver::SETUP_TIME

The time that the DIR signal must be held for a change to apply

type Dir = <Driver as SetDirection>::Dir

The type of the DIR pin

type Error = BusyError<<Driver as SetDirection>::Error>

The error that can occur while accessing the DIR pin

fn dir(
    &mut self
) -> Result<&mut <SoftwareMotionControl<Driver, Timer, Profile, Convert, TIMER_HZ> as SetDirection>::Dir, <SoftwareMotionControl<Driver, Timer, Profile, Convert, TIMER_HZ> as SetDirection>::Error>

Provides access to the DIR pin

impl<Driver, Timer, Profile, Convert, const TIMER_HZ: u32> SetStepMode for SoftwareMotionControl<Driver, Timer, Profile, Convert, TIMER_HZ> where
    Driver: SetStepMode,
    Profile: MotionProfile, 

const SETUP_TIME: Duration<u32, 1, 1000000000> = Driver::SETUP_TIME

The time the mode signals need to be held before re-enabling the driver

const HOLD_TIME: Duration<u32, 1, 1000000000> = Driver::HOLD_TIME

The time the mode signals need to be held after re-enabling the driver

type Error = BusyError<<Driver as SetStepMode>::Error>

The error that can occur while using this trait

type StepMode = <Driver as SetStepMode>::StepMode

The type that defines the microstepping mode

fn apply_mode_config(
    &mut self,
    step_mode: <SoftwareMotionControl<Driver, Timer, Profile, Convert, TIMER_HZ> as SetStepMode>::StepMode
) -> Result<(), <SoftwareMotionControl<Driver, Timer, Profile, Convert, TIMER_HZ> as SetStepMode>::Error>

Apply the new step mode configuration

fn enable_driver(
    &mut self
) -> Result<(), <SoftwareMotionControl<Driver, Timer, Profile, Convert, TIMER_HZ> as SetStepMode>::Error>

Re-enable the driver after the mode has been set

impl<Driver, Timer, Profile, Convert, const TIMER_HZ: u32> Step for SoftwareMotionControl<Driver, Timer, Profile, Convert, TIMER_HZ> where
    Driver: Step,
    Profile: MotionProfile, 

const PULSE_LENGTH: Duration<u32, 1, 1000000000> = Driver::PULSE_LENGTH

The minimum length of a STEP pulse

type Step = <Driver as Step>::Step

The type of the STEP pin

type Error = BusyError<<Driver as Step>::Error>

The error that can occur while accessing the STEP pin

fn step(
    &mut self
) -> Result<&mut <SoftwareMotionControl<Driver, Timer, Profile, Convert, TIMER_HZ> as Step>::Step, <SoftwareMotionControl<Driver, Timer, Profile, Convert, TIMER_HZ> as Step>::Error>

Provides access to the STEP pin