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//! The ServoMotor provides a uniform interface for using hobby type servo motors.
/// The ServoMotor provides a uniform interface for using hobby type servo motors.
#[macro_export]
macro_rules! servo_motor {
() => {
/// Remove power from the motor.
pub const COMMAND_RUN: &'static str = "run";
/// Drive servo to the position set in the position_sp attribute.
pub const COMMAND_FLOAT: &'static str = "float";
/// With normal polarity, a positive duty cycle will cause the motor to rotate clockwise.
pub const POLARITY_NORMAL: &'static str = "normal";
/// With inversed polarity, a positive duty cycle will cause the motor to rotate counter-clockwise.
pub const POLARITY_INVERSED: &'static str = "inversed";
/// Power is being sent to the motor.
pub const STATE_RUNNING: &'static str = "running";
/// Returns the current polarity of the motor.
pub fn get_polarity(&self) -> Ev3Result<String> {
self.get_attribute("polarity").get()
}
/// Sets the polarity of the motor.
pub fn set_polarity(&self, polarity: &str) -> Ev3Result<()> {
self.get_attribute("polarity").set_str_slice(polarity)
}
/// Returns the current max pulse setpoint.
/// Used to set the pulse size in milliseconds for the signal
/// that tells the servo to drive to the maximum (clockwise) position_sp.
/// Default value is 2400. Valid values are 2300 to 2700.
/// You must write to the position_sp attribute for changes to this attribute to take effect.
pub fn get_max_pulse_sp(&self) -> Ev3Result<i32> {
self.get_attribute("max_pulse_sp").get()
}
/// Sets the max pulse setpoint.
/// Used to set the pulse size in milliseconds for the signal
/// that tells the servo to drive to the maximum (clockwise) position_sp.
/// Default value is 2400. Valid values are 2300 to 2700.
/// You must write to the position_sp attribute for changes to this attribute to take effect.
pub fn set_max_pulse_sp(&self, max_pulse_sp: i32) -> Ev3Result<()> {
self.get_attribute("max_pulse_sp").set(max_pulse_sp)
}
/// Returns the current mid pulse setpoint.
/// Used to set the pulse size in milliseconds for the signal
/// that tells the servo to drive to the minimum (counter-clockwise) position_sp.
/// Default value is 600.
/// Valid values are 300 to 700.
/// You must write to the position_sp attribute for changes to this attribute to take effect.
pub fn get_mid_pulse_sp(&self) -> Ev3Result<i32> {
self.get_attribute("mid_pulse_sp").get()
}
/// Sets the mid pulse setpoint.
/// Used to set the pulse size in milliseconds for the signal
/// that tells the servo to drive to the minimum (counter-clockwise) position_sp.
/// Default value is 600.
/// Valid values are 300 to 700.
/// You must write to the position_sp attribute for changes to this attribute to take effect.
pub fn set_mid_pulse_sp(&self, max_pulse_sp: i32) -> Ev3Result<()> {
self.get_attribute("mid_pulse_sp").set(max_pulse_sp)
}
/// Returns the current min pulse setpoint.
/// Used to set the pulse size in milliseconds for the signal
/// that tells the servo to drive to the minimum (counter-clockwise) position_sp.
/// Default value is 600. Valid values are 300 to 700.
/// You must write to the position_sp attribute for changes to this attribute to take effect.
pub fn get_min_pulse_sp(&self) -> Ev3Result<i32> {
self.get_attribute("min_pulse_sp").get()
}
/// Sets the min pulse setpoint.
/// Used to set the pulse size in milliseconds for the signal
/// that tells the servo to drive to the minimum (counter-clockwise) position_sp.
/// Default value is 600. Valid values are 300 to 700.
/// You must write to the position_sp attribute for changes to this attribute to take effect.
pub fn set_min_pulse_sp(&self, min_pulse_sp: i32) -> Ev3Result<()> {
self.get_attribute("min_pulse_sp").set(min_pulse_sp)
}
/// Returns the current target position for the `run-to-abs-pos` and `run-to-rel-pos` commands. Units are in tacho counts.
/// You can use the value returned by `counts_per_rot` to convert tacho counts to/from rotations or degrees.
/// The range is -2,147,483,648 and +2,147,483,647 tachometer counts (32-bit signed integer).
pub fn get_position_sp(&self) -> Ev3Result<i32> {
self.get_attribute("position_sp").get()
}
/// Sets the target position for the `run-to-abs-pos` and `run-to-rel-pos` commands.
/// Units are in tacho counts.
/// You can use the value returned by `counts_per_rot` to convert tacho counts to/from rotations or degrees.
/// The range is -2,147,483,648 and +2,147,483,647 tachometer counts (32-bit signed integer).
pub fn set_position_sp(&self, position_sp: i32) -> Ev3Result<()> {
self.get_attribute("position_sp").set(position_sp)
}
/// Returns the current the rate_sp at which the servo travels from 0 to 100.0%
/// (half of the full range of the servo).
/// Units are in milliseconds.
///
/// ## Example:
///
/// Setting the rate_sp to 1000 means that it will take a 180
/// degree servo 2 second to move from 0 to 180 degrees.
///
/// ## Note:
///
/// Some servo controllers may not support this in which case
/// reading and writing will fail with -EOPNOTSUPP.
/// In continuous rotation servos, this value will affect the
/// rate_sp at which the speed ramps up or down.
pub fn get_rate_sp(&self) -> Ev3Result<i32> {
self.get_attribute("rate_sp").get()
}
/// Sets the rate_sp at which the servo travels from 0 to 100.0%
/// (half of the full range of the servo).
/// Units are in milliseconds.
///
/// ## Example:
///
/// Setting the rate_sp to 1000 means that it will take a 180
/// degree servo 2 second to move from 0 to 180 degrees.
///
/// ## Note:
///
/// Some servo controllers may not support this in which case
/// reading and writing will fail with -EOPNOTSUPP.
/// In continuous rotation servos, this value will affect the
/// rate_sp at which the speed ramps up or down.
pub fn set_rate_sp(&self, rate_sp: i32) -> Ev3Result<()> {
self.get_attribute("rate_sp").set(rate_sp)
}
/// Returns a list of state flags.
pub fn get_state(&self) -> Ev3Result<Vec<String>> {
self.get_attribute("state").get_vec()
}
/// Power is being sent to the motor.
pub fn is_running(&self) -> Ev3Result<bool> {
Ok(self
.get_state()?
.iter()
.any(|state| state == Self::STATE_RUNNING))
}
/// Drive servo to the position set in the `position_sp` attribute.
pub fn run(&self) -> Ev3Result<()> {
self.set_command(Self::COMMAND_RUN)
}
/// Remove power from the motor.
pub fn float(&self) -> Ev3Result<()> {
self.set_command(Self::COMMAND_FLOAT)
}
};
}