embedded_stepper/
driver.rs

1
2//! Low-level **coil driver** trait used by the high-level [Stepper](`crate::stepper::Stepper`).
3//!
4//! Implement this for your motor wiring to describe how each `this_step`
5//! energizes pins. Errors bubble up from the underlying GPIO pins via
6//! the associated `Error` type.
7//!
8//! Equivalent to the Arduino `stepMotor` function.
9
10/// Generic stepper “coil driver” interface (no_std, embedded-hal compatible).
11pub trait StepperMotor {
12    type Error;
13
14    /// Drive to a specific step (implementation decides sequence).
15    ///
16    /// Must take a step number, and use this to determine the coil sequence and energise accordingly
17    ///
18    /// Equivalent to the Arduino `stepMotor` function.
19    fn step(&mut self, this_step: u32) -> Result<(), Self::Error>;
20
21    /// De-energize all coils.
22    ///
23    /// Implementors should set all coil pins to `low`.
24    ///
25    /// Arduino stepper does not have this function, but it may be useful for drivers with no enable-disable
26    fn clear(&mut self) -> Result<(), Self::Error>;
27}
embedded_stepper/driver.rs

embedded_stepper/
driver.rs
