Struct stepper_driver::MotorDriver

pub struct MotorDriver<D, DIR, STEP, CHIP> where
    D: DelayUs<u32>,
    DIR: OutputPin,
    STEP: OutputPin,
    CHIP: Params,  { /* fields omitted */ }

A stepper motor driver generic struct

Methods

impl<D, DIR, STEP, CHIP> MotorDriver<D, DIR, STEP, CHIP> where
    D: DelayUs<u32>,
    DIR: OutputPin,
    STEP: OutputPin,
    CHIP: Params, 

pub fn set_speed(&mut self, rpm: f32)

Sets the speed in revolutions per minute (1-200 is a reasonable range)

pub fn move_instant(&mut self, steps_to_move: u64)

Moves the motor steps_to_move steps

pub fn move_smooth(
    &mut self,
    steps_to_move: u64,
    steps_acc: u64,
    steps_dec: u64
)

Moves the motor smoothly steps_to_move steps. Increasing speed during the steps_acc and decreasing during steps_dec steps.

pub fn set_direction(&mut self, clock_work: bool)

Set the direction

impl<D, DIR, STEP> MotorDriver<D, DIR, STEP, a4988> where
    D: DelayUs<u32>,
    DIR: OutputPin,
    STEP: OutputPin, 

pub fn a4988(
    delay: D,
    dir_pin: DIR,
    step_pin: STEP,
    number_of_steps: u16,
    step_division: u8,
    rpm: f32
) -> Self

Specialized constructor

impl<D, DIR, STEP> MotorDriver<D, DIR, STEP, drv8825> where
    D: DelayUs<u32>,
    DIR: OutputPin,
    STEP: OutputPin, 

pub fn drv8825(
    delay: D,
    dir_pin: DIR,
    step_pin: STEP,
    number_of_steps: u16,
    step_division: u8,
    rpm: f32
) -> Self

Specialized constructor

impl<D, DIR, STEP> MotorDriver<D, DIR, STEP, drv8834> where
    D: DelayUs<u32>,
    DIR: OutputPin,
    STEP: OutputPin, 

pub fn drv8834(
    delay: D,
    dir_pin: DIR,
    step_pin: STEP,
    number_of_steps: u16,
    step_division: u8,
    rpm: f32
) -> Self

Specialized constructor

impl<D, DIR, STEP> MotorDriver<D, DIR, STEP, drv8880> where
    D: DelayUs<u32>,
    DIR: OutputPin,
    STEP: OutputPin, 

pub fn drv8880(
    delay: D,
    dir_pin: DIR,
    step_pin: STEP,
    number_of_steps: u16,
    step_division: u8,
    rpm: f32
) -> Self

Specialized constructor

Trait Implementations

impl<D: Debug, DIR: Debug, STEP: Debug, CHIP: Debug> Debug for MotorDriver<D, DIR, STEP, CHIP> where
    D: DelayUs<u32>,
    DIR: OutputPin,
    STEP: OutputPin,
    CHIP: Params, 

fn fmt(&self, __arg_0: &mut Formatter) -> Result

Formats the value using the given formatter.