Struct ServoConfig 

pub struct ServoConfig {
    pub max_angle: f32,
    pub frequency: Rate,
    pub pulse_width_ns: Range<u32>,
    pub duty: Duty,
}

Fields

max_angle: f32

Max angle that servo can be turned, mostly 180, 360.

frequency: Rate

What frequency expect servo (ex. 50Hz for SG90).

pulse_width_ns: Range<u32>

What pulse width in nanos servo supports (ex. 500000-2400000ns for SG90).

duty: Duty

PWM resolution in bits. Higher bits means more precise control.

Implementations

impl ServoConfig

pub fn default_servo(duty: Duty, max_angle: f32) -> Self

Default servo configuration with 50Hz frequency and pulse width range of 500000-2500000 ns (0.5-2.5ms).

pub fn sg90(duty: Duty) -> Self

Config for SG90. Can be used for SG90s as well.

pub fn mg995(duty: Duty) -> Self

Config for MG995. High-torque servo motor with metal gears. Can be used for MG996, MG996R as well.

pub fn configure_timer<'a, S: TimerSpeed>( &self, ledc: &mut Ledc<'a>, timer_num: Number, clock_source: S::ClockSourceType, ) -> Result<Timer<'a, S>, Error>

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

Helper function to configure a timer with this servo’s configuration.

pub fn calc_duty_range(&self, max_duty: f32) -> Range<f32>

Calculates duty range in absolute values for this servo configuration. Returns absolute duty values (0..max_duty), not percentages.

pub fn duty_to_angle( &self, duty: f32, max_duty: f32, duty_range: &Range<f32>, ) -> f32

Transforms absolute duty value to angle in degrees. Returns angle in degrees (0.0..max_angle).

pub fn angle_to_duty(&self, angle: f32, duty_range: &Range<f32>) -> f32

Transforms angle in degrees to absolute duty value.

Trait Implementations

impl Clone for ServoConfig

fn clone(&self) -> ServoConfig

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for ServoConfig

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.