ev3_drivebase/drivebase/
ramping.rs

1use std::ops::Div;
2
3use super::DriveBase;
4use ev3dev_lang_rust::Ev3Error;
5
6impl DriveBase {
7    /// Sets the acceleration rate for both motors.
8    ///
9    /// Acceleration determines how quickly the motors ramp up to the target speed.
10    /// Higher values result in faster acceleration but may cause wheel slipping or
11    /// mechanical stress. Lower values provide smoother, more controlled starts.
12    ///
13    /// # Parameters
14    ///
15    /// - `acceleration`: The acceleration rate in degrees per second squared (deg/s²)
16    ///
17    /// # Errors
18    ///
19    /// Returns an error if:
20    /// - The acceleration value is negative
21    /// - The value cannot be set on either motor
22    ///
23    /// # Examples
24    ///
25    /// ```no_run
26    /// use ev3_drivebase::{DriveBase, Motor, Direction};
27    /// use ev3_drivebase::ev3dev_lang_rust::{Ev3Error, motors::MotorPort};
28    ///
29    /// fn main() -> Result<(), Ev3Error> {
30    ///     let left = Motor::new(MotorPort::OutA, Direction::Clockwise);
31    ///     let right = Motor::new(MotorPort::OutB, Direction::CounterClockwise);
32    ///     let drivebase = DriveBase::new(left, right, 43.2, 185.0)?;
33    ///
34    ///     // Set moderate acceleration for smooth starts
35    ///     drivebase.set_acceleration(2000)?;
36    ///
37    ///     // Set high acceleration for quick response
38    ///     drivebase.set_acceleration(5000)?;
39    ///
40    ///     Ok(())
41    /// }
42    /// ```
43    pub fn set_acceleration(&self, acceleration: i32) -> Result<&Self, Ev3Error> {
44        let (left_time, right_time) = self.calculate_time(acceleration)?;
45        self.left.set_ramp_up_sp(left_time)?;
46        self.right.set_ramp_up_sp(right_time)?;
47        Ok(self)
48    }
49
50    /// Sets the deceleration rate for both motors.
51    ///
52    /// Deceleration determines how quickly the motors slow down when stopping.
53    /// Higher values result in faster stops but may cause the robot to jerk or tip.
54    /// Lower values provide smoother, more controlled stops.
55    ///
56    /// # Parameters
57    ///
58    /// - `deceleration`: The deceleration rate in degrees per second squared (deg/s²)
59    ///
60    /// # Errors
61    ///
62    /// Returns an error if:
63    /// - The deceleration value is negative
64    /// - The value cannot be set on either motor
65    ///
66    /// # Examples
67    ///
68    /// ```no_run
69    /// use ev3_drivebase::{DriveBase, Motor, Direction};
70    /// use ev3_drivebase::ev3dev_lang_rust::{Ev3Error, motors::MotorPort};
71    ///
72    /// fn main() -> Result<(), Ev3Error> {
73    ///     let left = Motor::new(MotorPort::OutA, Direction::Clockwise);
74    ///     let right = Motor::new(MotorPort::OutB, Direction::CounterClockwise);
75    ///     let drivebase = DriveBase::new(left, right, 43.2, 185.0)?;
76    ///
77    ///     // Set moderate deceleration for smooth stops
78    ///     drivebase.set_deceleration(2000)?;
79    ///
80    ///     // Set high deceleration for quick stops
81    ///     drivebase.set_deceleration(5000)?;
82    ///
83    ///     Ok(())
84    /// }
85    /// ```
86    ///
87    /// # Note
88    ///
89    /// Deceleration works in combination with the brake mode:
90    /// - With `BrakeMode::Coast`: Deceleration has limited effect
91    /// - With `BrakeMode::Brake` or `BrakeMode::Hold`: Full effect
92    pub fn set_deceleration(&self, deceleration: i32) -> Result<&Self, Ev3Error> {
93        let (left_time, right_time) = self.calculate_time(deceleration)?;
94        self.left.set_ramp_down_sp(left_time)?;
95        self.right.set_ramp_down_sp(right_time)?;
96        Ok(self)
97    }
98
99    fn calculate_time(&self, acceleration: i32) -> Result<(i32, i32), Ev3Error> {
100        let left_max_speed = self.left.get_max_speed()?;
101        let right_max_speed = self.right.get_max_speed()?;
102        let left_time = left_max_speed.div(acceleration);
103        let right_time = right_max_speed.div(acceleration);
104        Ok((left_time, right_time))
105    }
106}
ev3_drivebase/drivebase/ramping.rs

ev3_drivebase/drivebase/
ramping.rs
