Struct Motor 

pub struct Motor { /* private fields */ }

NXT motor, EV3 large and medium motors

Implementations

impl Motor

pub fn new(port: MotorPort, direction: Direction) -> Ev3Result<Self>

Tries to find a Motor on the given port

If no motor is found, returns MotorNotFound.

Note that the motor is not reset upon initialization.

#Examples

use ev3dev_rs::pupdevices::Motor;
use ev3dev_rs::parameters::{MotorPort, Direction};

let motor = Motor::new(MotorPort::OutA, Direction::Clockwise);
motor.reset()?;
motor.run_target(300, 360)?;

pub fn set_stop_action(&self, action: Stop) -> Ev3Result<()>

sets the stop action for the Motor

pub fn set_ramp_up_setpoint(&self, sp: u32) -> Ev3Result<()>

Units are in milliseconds and must be positive.

When set to a non-zero value, the motor speed will increase from 0 to 100% of max_speed over the span of this setpoint.

This is especially useful for avoiding wheel slip.

pub fn set_ramp_down_setpoint(&self, sp: u32) -> Ev3Result<()>

Units are in milliseconds and must be positive.

When set to a non-zero value, the motor speed will decrease from 0 to 100% of max_speed over the span of this setpoint.

This is especially useful for avoiding wheel slip.

pub fn reset(&self) -> Ev3Result<()>

Resets all the motor parameters to their default values.

This also has the effect of stopping the motor.

pub fn stop_prev_action(&self) -> Ev3Result<()>

Stops the motor with the previously selected stop action.

pub fn stop(&self) -> Ev3Result<()>

Stops the motor and lets it spin freely.

This also has the effect of setting the motor’s stop action to coast.

pub fn brake(&self) -> Ev3Result<()>

Stops the motor and passively brakes it by generating current.

This also has the effect of setting the motor’s stop action to brake.

pub fn hold(&self) -> Ev3Result<()>

Stops the motor and actively holds it at its current angle.

This also has the effect of setting the motor’s stop action to hold.

pub fn angle(&self) -> Ev3Result<i32>

Gets the rotation angle of the motor.

pub async fn run_angle(&self, speed: i32, rotation_angle: i32) -> Ev3Result<()>

Runs the motor at a constant speed by a given angle.

pub async fn run_target(&self, speed: i32, target_angle: i32) -> Ev3Result<()>

Runs the motor at a constant speed to a towards a target angle.

Note that the angle is continuous and does not wrap around at 360 degrees.

Additionally, the motor’s position is not necessarily zero at the start of your program.

To guarantee that the starting position is zero, you can use the reset method.

pub fn run(&self, speed: i32) -> Ev3Result<()>

Runs the motor at a constant speed.

The motor will run at this speed until manually stopped, or you give it a new command.

pub async fn run_time(&self, speed: i32, time: Duration) -> Ev3Result<()>

Runs the motor at a constant speed for a given duration.

pub async fn run_until_stalled(&self, power: i32) -> Ev3Result<()>

Runs at a given duty cycle percentage (-100 to 100) until stalled.

pub fn dc(&self, duty: i32) -> Ev3Result<()>

Rotates the motor at a given duty cycle percentage (-100 to 100) until stopped, or you give it a new command.