kernelvex 0.1.0

VEX Controls library
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53

//! Sensor abstraction layer for encoders and rotation sensors.
//!
//! Provides a unified [`Encoder`] trait that allows different sensor types
//! to be used interchangeably for odometry calculations.

use crate::si::QAngle;

use vexide_devices::adi::encoder::AdiEncoder;
use vexide_devices::smart::rotation::RotationSensor;

/// Trait for encoders that can measure rotation.
///
/// Implementations provide the total accumulated rotation since the last reset
/// or initialization. This is used by tracking wheels to calculate distance traveled.
///
/// # Examples
///
/// ```no_run
/// use kernelvex::sensors::Encoder;
/// # use kernelvex::si::QAngle;
/// # let encoder: vexide_devices::smart::rotation::RotationSensor = todo!();
///
/// let rotations = encoder.rotations();
/// println!("Total rotations: {} turns", rotations.as_turns());
/// ```
pub trait Encoder {
    /// Returns the total accumulated rotation as a typed angle.
    ///
    /// The rotation value represents the total angle turned since the encoder
    /// was initialized or last reset.
    ///
    /// # Returns
    ///
    /// The total rotation as a [`QAngle`].
    ///
    /// # Panics
    ///
    /// May panic if the sensor fails to read its position. This depends on
    /// the underlying sensor implementation.
    fn rotations(&self) -> QAngle;
}

impl Encoder for AdiEncoder<360> {
    fn rotations(&self) -> QAngle {
        QAngle::from_turns(self.position().unwrap().as_turns())
    }
}

impl Encoder for RotationSensor {
    fn rotations(&self) -> QAngle {
        QAngle::from_radians(self.position().unwrap().as_turns())
    }
}