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//! The ServoMotor provides a uniform interface for using hobby type servo motors.

/// The ServoMotor provides a uniform interface for using hobby type servo motors.
#[macro_export]
macro_rules! servo_motor {
    () => {
        /// Remove power from the motor.
        pub const COMMAND_RUN: &'static str = "run";

        /// Drive servo to the position set in the position_sp attribute.
        pub const COMMAND_FLOAT: &'static str = "float";

        /// With normal polarity, a positive duty cycle will cause the motor to rotate clockwise.
        pub const POLARITY_NORMAL: &'static str = "normal";

        /// With inversed polarity, a positive duty cycle will cause the motor to rotate counter-clockwise.
        pub const POLARITY_INVERSED: &'static str = "inversed";

        /// Power is being sent to the motor.
        pub const STATE_RUNNING: &'static str = "running";

        /// Returns the current polarity of the motor.
        pub fn get_polarity(&self) -> Ev3Result<String> {
            self.get_attribute("polarity").get()
        }

        /// Sets the polarity of the motor.
        pub fn set_polarity(&self, polarity: &str) -> Ev3Result<()> {
            self.get_attribute("polarity").set_str_slice(polarity)
        }

        /// Returns the current max pulse setpoint.
        /// Used to set the pulse size in milliseconds for the signal
        /// that tells the servo to drive to the maximum (clockwise) position_sp.
        /// Default value is 2400. Valid values are 2300 to 2700.
        /// You must write to the position_sp attribute for changes to this attribute to take effect.
        pub fn get_max_pulse_sp(&self) -> Ev3Result<i32> {
            self.get_attribute("max_pulse_sp").get()
        }

        /// Sets the max pulse setpoint.
        /// Used to set the pulse size in milliseconds for the signal
        /// that tells the servo to drive to the maximum (clockwise) position_sp.
        /// Default value is 2400. Valid values are 2300 to 2700.
        /// You must write to the position_sp attribute for changes to this attribute to take effect.
        pub fn set_max_pulse_sp(&self, max_pulse_sp: i32) -> Ev3Result<()> {
            self.get_attribute("max_pulse_sp").set(max_pulse_sp)
        }

        /// Returns the current mid pulse setpoint.
        /// Used to set the pulse size in milliseconds for the signal
        /// that tells the servo to drive to the miniumum (counter-clockwise) position_sp.
        /// Default value is 600.
        /// Valid values are 300 to 700.
        ///  You must write to the position_sp attribute for changes to this attribute to take effect.
        pub fn get_mid_pulse_sp(&self) -> Ev3Result<i32> {
            self.get_attribute("mid_pulse_sp").get()
        }

        /// Sets the mid pulse setpoint.
        /// Used to set the pulse size in milliseconds for the signal
        /// that tells the servo to drive to the miniumum (counter-clockwise) position_sp.
        /// Default value is 600.
        /// Valid values are 300 to 700.
        ///  You must write to the position_sp attribute for changes to this attribute to take effect.
        pub fn set_mid_pulse_sp(&self, max_pulse_sp: i32) -> Ev3Result<()> {
            self.get_attribute("mid_pulse_sp").set(max_pulse_sp)
        }

        /// Returns the current min pulse setpoint.
        /// Used to set the pulse size in milliseconds for the signal
        /// that tells the servo to drive to the miniumum (counter-clockwise) position_sp.
        /// Default value is 600. Valid values are 300 to 700.
        /// You must write to the position_sp attribute for changes to this attribute to take effect.
        pub fn get_min_pulse_sp(&self) -> Ev3Result<i32> {
            self.get_attribute("min_pulse_sp").get()
        }
        /// Sets the min pulse setpoint.
        /// Used to set the pulse size in milliseconds for the signal
        /// that tells the servo to drive to the miniumum (counter-clockwise) position_sp.
        /// Default value is 600. Valid values are 300 to 700.
        /// You must write to the position_sp attribute for changes to this attribute to take effect.
        pub fn set_min_pulse_sp(&self, min_pulse_sp: i32) -> Ev3Result<()> {
            self.get_attribute("min_pulse_sp").set(min_pulse_sp)
        }

        /// Returns the current target position for the `run-to-abs-pos` and `run-to-rel-pos` commands. Units are in tacho counts.
        /// You can use the value returned by `counts_per_rot` to convert tacho counts to/from rotations or degrees.
        /// The range is -2,147,483,648 and +2,147,483,647 tachometer counts (32-bit signed integer).
        pub fn get_position_sp(&self) -> Ev3Result<i32> {
            self.get_attribute("position_sp").get()
        }

        /// Sets the target position for the `run-to-abs-pos` and `run-to-rel-pos` commands.
        /// Units are in tacho counts.
        /// You can use the value returned by `counts_per_rot` to convert tacho counts to/from rotations or degrees.
        /// The range is -2,147,483,648 and +2,147,483,647 tachometer counts (32-bit signed integer).
        pub fn set_position_sp(&self, position_sp: i32) -> Ev3Result<()> {
            self.get_attribute("position_sp").set(position_sp)
        }

        /// Returns the current the rate_sp at which the servo travels from 0 to 100.0%
        /// (half of the full range of the servo).
        /// Units are in milliseconds.
        ///
        /// ## Example:
        ///
        /// Setting the rate_sp to 1000 means that it will take a 180
        /// degree servo 2 second to move from 0 to 180 degrees.
        ///
        /// ## Note:
        ///
        /// Some servo controllers may not support this in which case
        /// reading and writing will fail with -EOPNOTSUPP.
        /// In continuous rotation servos, this value will affect the
        /// rate_sp at which the speed ramps up or down.
        pub fn get_rate_sp(&self) -> Ev3Result<i32> {
            self.get_attribute("rate_sp").get()
        }

        /// Sets the rate_sp at which the servo travels from 0 to 100.0%
        /// (half of the full range of the servo).
        /// Units are in milliseconds.
        ///
        /// ## Example:
        ///
        /// Setting the rate_sp to 1000 means that it will take a 180
        /// degree servo 2 second to move from 0 to 180 degrees.
        ///
        /// ## Note:
        ///
        /// Some servo controllers may not support this in which case
        /// reading and writing will fail with -EOPNOTSUPP.
        /// In continuous rotation servos, this value will affect the
        /// rate_sp at which the speed ramps up or down.
        pub fn set_rate_sp(&self, rate_sp: i32) -> Ev3Result<()> {
            self.get_attribute("rate_sp").set(rate_sp)
        }

        /// Returns a list of state flags.
        pub fn get_state(&self) -> Ev3Result<Vec<String>> {
            self.get_attribute("state").get_vec()
        }

        /// Power is being sent to the motor.
        pub fn is_running(&self) -> Ev3Result<bool> {
            Ok(self
                .get_state()?
                .iter()
                .any(|state| state == Self::STATE_RUNNING))
        }

        /// Drive servo to the position set in the `position_sp` attribute.
        pub fn run(&self) -> Ev3Result<()> {
            self.set_command(Self::COMMAND_RUN)
        }

        /// Remove power from the motor.
        pub fn float(&self) -> Ev3Result<()> {
            self.set_command(Self::COMMAND_FLOAT)
        }
    };
}