Struct Servo 

pub struct Servo<'a, S: TimerSpeed> {
    pub duty_range: Range<f32>,
    /* private fields */
}

Fields

duty_range: Range<f32>

Valid duty cycle range in absolute values (e.g., 102..491 for SG90 with 12-bit). This corresponds to the pulse width range of the servo.

Implementations

impl<'d, S: TimerSpeed> Servo<'d, S>

pub fn new<'a>( name: &'static str, config: ServoConfig, ledc: &mut Ledc<'a>, timer: &'a Timer<'a, S>, channel_num: Number, pin: impl OutputPin + 'a, ) -> Result<Servo<'a, S>, Error>

where Timer<'a, S>: TimerHW<S>,

Creates new servo driver instance for LEDC channel.

Arguments

• name - Name identifier for the servo (for logging)
• config - Servo configuration
• ledc - LEDC peripheral instance
• timer - Configured timer instance (use ServoConfig::configure_timer to create it)
• channel_num - Channel number (e.g., channel::Number::Channel0)
• pin - GPIO pin to use for PWM output

pub fn step(&mut self, step_size: f32) -> Result<bool, Error>

Makes step in absolute duty units should be lesser than duty_range(). Return false if servo reaches min or max position. See also step_pct() for percentage-based stepping. Note: Step takes some time depending on servo speed.

pub fn step_pct(&mut self, step_pct: u8) -> Result<bool, Error>

Makes step in percentage of total range. Returns false if servo reaches min or max position. See also step() for absolute duty-based stepping. Note: Step takes some time depending on servo speed.

pub fn set_dir(&mut self, dir: Dir) -> Option<Dir>

Set servo to move new direction. Returns old direction if direction was actually changes.

pub fn get_dir(&self) -> Dir

Returns current direction value.

pub fn get_angle(&self) -> f32

Returns current angle value in degrees.

pub fn set_angle(&mut self, angle: f32) -> bool

Sets servo to specified angle in degrees. Note: turn to angle takes some time depending on servo speed.

pub fn duty_range(&self) -> f32

Returns the size of the duty range (difference between max and min duty values). This is not the number of steps, but the range size in duty units.