Struct rust_rpi_4wd_car::Motors

pub struct Motors { /* fields omitted */ }

Proves a simpler interface for the robot’s motors.

Implementations

impl Motors

pub fn new() -> Rr4cResult<Self>

Constructor

pub fn brake(&mut self) -> Result

Stop the robot motors.

pub fn enable(&mut self, v: bool)

Used to enable/disable robot moving.

Arguments

• v - Use true to enable robot moving else false to disable.

pub fn movement<L, R>(&mut self, left: L, right: R) -> Result where
    L: Into<Option<i8>>,
    R: Into<Option<i8>>, 

Sets direction and speed of motors.

NOTE: Motors must be enabled by calling enable(true) before this command cause robot to start moving.

Arguments

Both motors use a -100(%) to +100(%) integer speed range.

NOTE: Speeds below 20% in either direction may be glitchy and ones below 10% are likely to cause little or no movement of the robot.

• left - Speed and direction for left motors.
• right - Speed and direction for right motors.

Examples

use rust_rpi_4wd_car::{Motors, Result};

fn main() -> Result {
    let mut motors = Motors::new()?;
    motors.enable(true);
    motors.movement(-50, 50)
}

This will cause the robot to start spinning in place to the left. The left motors going backwards and the right motors forward. Both motors will be at ~50% speed.

pub fn speeds(&self) -> (i8, i8)

Access the current speeds of the left and right motors.

NOTE: Speeds will be return even when motors are not actively being driven or enabled.

Trait Implementations

impl Debug for Motors

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.