Struct MotorMatrix 

pub struct MotorMatrix<E, T, const N: usize> {
    pub motors: [Motor<E, T>; N],
    pub thrust_boost_ratio: T,
    pub compensation_gain: T,
    /* private fields */
}

Fields

motors: [Motor<E, T>; N]

thrust_boost_ratio: T

compensation_gain: T

Implementations

impl<E, T> MotorMatrix<E, T, 4>

where E: ESC, E::Output: NumCast, T: Float + FloatConst + FromPrimitive,

pub fn quad(a: E, b: E, c: E, d: E) -> Self

Create a new MotorMatrix for a quad-copter with 4 ESC motors.

impl<E, T, const N: usize> MotorMatrix<E, T, N>

where E: ESC, E::Output: NumCast, T: Float + FloatConst + FromPrimitive,

pub fn from_motors(motors: [Motor<E, T>; N]) -> Self

pub fn arm(&mut self)

pub fn output(&mut self, output: MotorOutput<T>) -> Limit

pub fn output_with_throttle( &mut self, output: MotorOutput<T>, throttle: T, ) -> Limit