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/// A stepper motor controller.
pub struct StepperController {
step_degree: f32,
max_range: f32,
min_range: f32,
target_step_count: i32,
current_angle: f32,
}
impl StepperController {
/// Constructs a new stepper controller.
///
/// - `step_degree`: the step degree of the stepper motor (e.g. 1.8 for a Nema 17)
/// - `max_range`: the maximum range (in degrees) of the stepper motor
/// - `min_range`: the minimum range (in degrees) of the stepper motor
/// - `initial_angle`: the initial angle (in degrees) of the stepper motor
///
/// # Example
///
/// ```
/// use steperb::StepperController;
///
/// let controller = StepperController::new(1.8, 90.0, -90.0, 0.0);
/// ```
pub fn new(step_degree: f32, max_range: f32, min_range: f32, initial_angle: f32) -> Self {
Self {
step_degree,
max_range,
min_range,
target_step_count: 0,
current_angle: initial_angle,
}
}
/// Calculates the step count of the specified angle and sets it as the current target.
///
/// - `angle`: the desired angle
///
/// # Errors
///
/// This function will return an `Err` if:
/// - `angle` is greater than 360
/// - `angle` is above the maximum allowed range
/// - `angle` is below the minimum allowed range
///
/// # Example
///
/// ```
/// use steperb::StepperController;
///
/// let mut controller = StepperController::new(1.8, 90.0, -90.0, 0.0);
/// controller.set_desired_angle(45.0).expect("Error setting angle");
///
/// assert_eq!(controller.needs_movement(), true);
/// ```
pub fn set_desired_angle(&mut self, angle: f32) -> Result<(), &'static str> {
self.target_step_count = 0;
if angle > 360.0 {
return Err("desired angle cannot be past 360 degrees");
}
if angle > self.max_range {
return Err("desired angle is above the maximum range");
}
if angle < self.min_range {
return Err("desired angle is below the minimum range");
}
let steps = (angle / self.step_degree) as i32;
self.target_step_count = steps;
self.current_angle = angle;
Ok(())
}
/// Increments the target step count by 1, incrementing the current angle by one step degree.
///
/// # Example
///
/// ```
/// use steperb::StepperController;
///
/// let mut controller = StepperController::new(1.8, 90.0, -90.0, 0.0);
/// controller.set_desired_angle(45.0).expect("Error setting angle");
/// controller.increment_step();
///
/// assert_eq!(controller.current_target_steps(), 24);
/// ```
pub fn step(&mut self) {
if self.target_step_count < 0 {
self.target_step_count += 1;
self.current_angle += self.step_degree // one step
} else if self.target_step_count > 0 {
self.target_step_count -= 1;
self.current_angle -= self.step_degree
}
}
/// Returns the step degree of the stepper controller.
///
/// # Example
///
/// ```
/// use steperb::StepperController;
///
/// let controller = StepperController::new(1.8, 90.0, -90.0, 0.0);
/// assert_eq!(controller.step_degree(), 1.8);
/// ```
pub fn step_degree(&self) -> f32 {
self.step_degree
}
/// Returns the maximum range (in degrees) of the stepper controller.
///
/// # Example
///
/// ```
/// use steperb::StepperController;
///
/// let controller = StepperController::new(1.8, 90.0, -90.0, 0.0);
/// assert_eq!(controller.max_range(), 90.0);
/// ```
pub fn max_range(&self) -> f32 {
self.max_range
}
/// Returns the minimum range (in degrees) of the stepper controller.
///
/// # Example
///
/// ```
/// use steperb::StepperController;
///
/// let controller = StepperController::new(1.8, 90.0, -90.0, 0.0);
/// assert_eq!(controller.min_range(), -90.0);
/// ```
pub fn min_range(&self) -> f32 {
self.min_range
}
/// Returns if the direction is reversed (the desired angle is negative)
///
/// # Example
///
/// ```
/// use steperb::StepperController;
///
/// let mut controller = StepperController::new(1.8, 90.0, -90.0, 0.0);
/// controller.set_desired_angle(-45.0).expect("Error setting angle");
///
/// assert_eq!(controller.reversed_direction(), true);
/// ```
pub fn reversed_direction(&self) -> bool {
self.target_step_count < 0
}
/// Returns the requirement for movement (if the target step count is not 0)
///
/// # Example
///
/// ```
/// use steperb::StepperController;
///
/// let mut controller = StepperController::new(1.8, 90.0, -90.0, 0.0);
/// controller.set_desired_angle(45.0).expect("Error setting angle");
///
/// assert_eq!(controller.needs_movement(), true);
/// ```
pub fn needs_movement(&self) -> bool {
self.target_step_count != 0
}
/// Returns the current angle of the stepper motor controller.
///
/// # Example
///
/// ```
/// use steperb::StepperController;
///
/// let controller = StepperController::new(1.8, 90.0, -90.0, 45.0);
/// assert_eq!(controller.current_angle(), 45.0);
/// ```
pub fn current_angle(&self) -> f32 {
self.current_angle
}
/// Returns the current target step count of the stepper motor controller.
///
/// # Example
///
/// ```
/// use steperb::StepperController;
///
/// let mut controller = StepperController::new(1.8, 90.0, -90.0, 0.0);
/// controller.set_desired_angle(45.0).expect("Error setting angle");
///
/// assert_eq!(controller.current_target_steps(), 25);
/// ```
pub fn current_target_steps(&self) -> i32 {
self.target_step_count
}
/// Resets the stepper controller's desired angle to 0.
///
/// # Example
///
/// ```
/// use steperb::StepperController;
///
/// let mut controller = StepperController::new(1.8, 90.0, -90.0, 0.0);
/// controller.set_desired_angle(45.0).expect("Error setting angle");
///
/// controller.reset();
///
/// assert_eq!(controller.current_angle(), 0.0);
/// assert_eq!(controller.current_target_steps(), 0);
/// ```
pub fn reset(&mut self) {
self.target_step_count = 0;
self.current_angle = 0.0;
}
}