pamoja-kit 0.1.14

Goal-named helper math for the pamoja device SDK: smoothing/filtering, calibration and units, PID and on/off control, prediction and anomaly detection, rolling stats, wheel kinematics (differential, Ackermann, skid-steer, mecanum), odometry, waypoint guidance, motion safety, and geo/IMU/weather helpers; no_std-friendly.
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
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148

#![cfg_attr(not(test), no_std)]

//! Goal-named helper math for the pamoja SDK.
//!
//! The hardest part of building something real on a cheap sensor is rarely reading
//! the sensor; it is turning that reading into a decision that holds up in the
//! field. `pamoja-kit` is the layer that closes that gap for people who are not
//! signal-processing engineers. Each helper is named for the goal rather than the
//! technique, ships with correct defaults, and documents the real algorithm one
//! layer down, so it teaches as it abstracts.
//!
//! The first helpers cover the jobs the cookbook leans on most:
//!
//! - [`Smoother`] - smooth a noisy reading (exponential moving average).
//! - [`Kalman`] - settle to a steady value from a noisy sensor (one-dimensional Kalman).
//! - [`Complementary`] - fuse a fast rate with a slow absolute reading (complementary filter).
//! - [`Median`] - reject spikes with a rolling median (robust to a lone bad reading).
//! - [`Debounce`] - clean a chattering on/off signal into one event (counter debounce).
//! - [`Calibration`] - turn a raw reading into real units (two-point linear map).
//! - [`deadband`] - ignore small wiggle around a setpoint so an actuator does not chatter.
//! - [`Thermostat`] - keep a reading near a setpoint (on/off control with
//!   hysteresis).
//! - [`Pid`] - hold a value at a target with a smooth, proportional command (PID control).
//! - [`Ramp`] - ease a command toward a target at a limited rate (slew-rate limiter).
//! - [`Depletion`] - warn before a falling level runs out (linear extrapolation).
//! - [`Surge`] - warn when a reading changes dangerously fast (first difference).
//! - [`Trend`] - tell whether a value is rising or falling and how fast (least-squares slope).
//! - [`Anomaly`] - flag a reading that departs from its recent history (three-sigma rule).
//! - [`Window`] - keep a rolling window of recent readings and read their spread
//!   (min, max, range, mean, population variance).
//! - [`units`] - convert a reading to the unit a person reads (Celsius and Fahrenheit,
//!   pascals to hPa/kPa/psi, ratio and percent).
//! - [`DiffDrive`], [`Ackermann`], [`SkidSteer`], [`Mecanum`] - wheel kinematics for the common
//!   differential, car-like, skid-steer, and omnidirectional chassis (behind `robotics`).
//! - [`TwoLinkArm`] / [`forward_kinematics`] - manipulator kinematics: the planar two-link inverse,
//!   and Denavit-Hartenberg forward kinematics for any serial arm.
//! - [`Odometry`] - dead-reckon a [`Pose`] from a body motion or wheel deltas, exact-arc.
//! - [`WaypointFollower`] / [`obstacle_stop`] - steer toward a waypoint and stop for an obstacle
//!   (behind `robotics` and `geo`).
//! - [`SafetyGate`] - the gate every motion command passes through: emergency [`EStop`], deadman
//!   [`Watchdog`], and bounded motion ([`Limits`]).
//! - [`ServoMap`] / [`Esc`] / [`Quadrature`] / [`QuadratureScale`] - servo and ESC pulse widths
//!   and quadrature-encoder decoding.
//! - [`Twist`] / [`Pose`] - the shared body-velocity and world-pose types the robotics helpers use.
//! - [`Coordinate`] / [`Geofence`] - great-circle distance and bearing, and leaving a safe
//!   area (behind the default `geo` feature).
//! - [`imu`] - roll and pitch from a three-axis accelerometer (behind the `imu` feature).
//! - [`weather`] - the dew point from temperature and humidity (behind the `weather` feature).
//!
//! The `geo`, `imu`, `weather`, and `robotics` features each pull in `libm` for `no_std` float
//! math and can be turned off on the most constrained targets; the waypoint guidance needs both
//! `robotics` and `geo`.
//!
//! The crate is `no_std` and allocation-free, so the same helpers run on a
//! microcontroller and on a server.
//!
//! # Examples
//!
//! Compose two helpers to hold a noisy fridge probe near 4 C:
//!
//! ```
//! use pamoja_kit::{Smoother, Thermostat};
//!
//! let mut probe = Smoother::new(0.5);
//! let mut fridge = Thermostat::cooling(4.0, 0.5);
//!
//! // A warm, noisy reading is smoothed, then drives the cooler on.
//! let cooler_on = fridge.update(probe.update(7.8));
//! assert!(cooler_on);
//! ```

mod anomaly;
mod calibration;
mod complementary;
mod debounce;
mod depletion;
mod drive;
mod kalman;
mod median;
mod pid;
mod ramp;
mod shape;
mod smoothing;
mod surge;
mod thermostat;
mod trend;
mod window;

pub mod units;

#[cfg(feature = "geo")]
mod geo;

#[cfg(feature = "imu")]
pub mod imu;

#[cfg(feature = "weather")]
pub mod weather;

#[cfg(feature = "robotics")]
mod arm;
#[cfg(feature = "robotics")]
mod chassis;
#[cfg(feature = "robotics")]
mod drivers;
#[cfg(feature = "robotics")]
mod motion;
#[cfg(all(feature = "robotics", feature = "geo"))]
mod navigate;
#[cfg(feature = "robotics")]
mod odometry;
#[cfg(feature = "robotics")]
mod safety;

pub use anomaly::Anomaly;
pub use calibration::Calibration;
pub use complementary::Complementary;
pub use debounce::Debounce;
pub use depletion::Depletion;
pub use drive::DiffDrive;
pub use kalman::Kalman;
pub use median::Median;
pub use pid::Pid;
pub use ramp::Ramp;
pub use shape::deadband;
pub use smoothing::Smoother;
pub use surge::Surge;
pub use thermostat::Thermostat;
pub use trend::Trend;
pub use window::Window;

#[cfg(feature = "geo")]
pub use geo::{Boundary, Coordinate, Geofence};

#[cfg(feature = "robotics")]
pub use arm::{forward_kinematics, DhParameters, Elbow, Transform, TwoLinkArm};
#[cfg(feature = "robotics")]
pub use chassis::{Ackermann, Mecanum, SkidSteer, WheelSpeeds};
#[cfg(feature = "robotics")]
pub use drivers::{Esc, Quadrature, QuadratureScale, ServoMap};
#[cfg(feature = "robotics")]
pub use motion::{Pose, Twist};
#[cfg(all(feature = "robotics", feature = "geo"))]
pub use navigate::{obstacle_stop, Guidance, WaypointFollower};
#[cfg(feature = "robotics")]
pub use odometry::Odometry;
#[cfg(feature = "robotics")]
pub use safety::{EStop, Limits, SafetyGate, Watchdog};