ev3_drivebase/
motor.rs

1//! Motor configuration and direction types for the drivebase.
2
3use ev3dev_lang_rust::motors::MotorPort;
4
5/// Required metadata for each motor of the drivebase.
6///
7/// This struct holds the physical configuration of a motor, including which port
8/// it's connected to and which direction it needs to turn to make the robot move forward.
9///
10/// # Examples
11///
12/// ```
13/// use ev3_drivebase::{Motor, Direction};
14/// use ev3_drivebase::ev3dev_lang_rust::motors::MotorPort;
15///
16/// // Left motor with shaft pointing forward
17/// let left = Motor::new(MotorPort::OutA, Direction::Clockwise);
18///
19/// // Right motor with shaft pointing backward
20/// let right = Motor::new(MotorPort::OutB, Direction::CounterClockwise);
21/// ```
22#[derive(Debug, Clone, Copy)]
23pub struct Motor {
24    /// The port of the motor (`OutA`, `OutB`, `OutC`, or `OutD`).
25    pub port: MotorPort,
26    /// The direction the motor needs to turn to make the robot go forward.
27    pub direction: Direction,
28}
29
30impl Motor {
31    /// Creates a new `Motor` configuration.
32    ///
33    /// # Parameters
34    ///
35    /// - `port`: The EV3 output port this motor is connected to
36    /// - `direction`: The direction this motor should turn to move the robot forward
37    ///
38    /// # Examples
39    ///
40    /// ```
41    /// use ev3_drivebase::{Motor, Direction};
42    /// use ev3_drivebase::ev3dev_lang_rust::motors::MotorPort;
43    ///
44    /// let motor = Motor::new(MotorPort::OutA, Direction::Clockwise);
45    /// ```
46    #[must_use]
47    pub const fn new(port: MotorPort, direction: Direction) -> Self {
48        Self { port, direction }
49    }
50}
51
52#[expect(clippy::doc_markdown)]
53/// The direction a motor needs to turn to make the robot move forward.
54///
55/// This depends on how the motor is physically mounted on your robot:
56///
57/// - **Clockwise**: Use this if the motor shaft points toward the front of the robot
58/// - **CounterClockwise**: Use this if the motor shaft points toward the back of the robot
59///
60/// # Examples
61///
62/// For a typical two-wheeled robot with motors on opposite sides:
63///
64/// ```
65/// use ev3_drivebase::{Motor, Direction};
66/// use ev3_drivebase::ev3dev_lang_rust::motors::MotorPort;
67///
68/// // Left motor (shaft points forward)
69/// let left = Motor::new(MotorPort::OutA, Direction::Clockwise);
70///
71/// // Right motor (shaft points backward due to mirrored mounting)
72/// let right = Motor::new(MotorPort::OutB, Direction::CounterClockwise);
73/// ```
74#[derive(Debug, PartialEq, Eq, PartialOrd, Ord, Clone, Copy)]
75#[repr(i8)]
76pub enum Direction {
77    /// Motor needs to turn clockwise to move the robot forward.
78    Clockwise = 1,
79    /// Motor needs to turn counter-clockwise to move the robot forward.
80    CounterClockwise = -1,
81}
82
83impl Direction {
84    /// Returns the sign multiplier for this direction.
85    ///
86    /// - `Clockwise` returns `1`
87    /// - `CounterClockwise` returns `-1`
88    ///
89    /// This is used internally for calculating motor encoder counts.
90    ///
91    /// # Examples
92    ///
93    /// ```
94    /// use ev3_drivebase::Direction;
95    ///
96    /// assert_eq!(Direction::Clockwise.sign(), 1);
97    /// assert_eq!(Direction::CounterClockwise.sign(), -1);
98    /// ```
99    #[inline]
100    #[must_use]
101    pub const fn sign(self) -> i32 {
102        self as i8 as i32
103    }
104}
ev3_drivebase/motor.rs

ev3_drivebase/
motor.rs
