Struct Basic

pub struct Basic<L: ControlLoop<Input = f64, Output = f64> + Unpin + Clone, A: ControlLoop<Input = Angle, Output = f64> + Unpin + Clone> {
    pub linear_controller: L,
    pub angular_controller: A,
    pub linear_tolerances: Tolerances,
    pub angular_tolerances: Tolerances,
    pub timeout: Option<Duration>,
}

Feedback-driven driving and turning.

Fields

linear_controller: L

Linear (forward driving) feedback controller.

angular_controller: A

Angular (turning) feedback controller.

linear_tolerances: Tolerances

Linear settling conditions.

angular_tolerances: Tolerances

Angular settling conditions.

timeout: Option<Duration>

Maximum duration the motion can take before being cancelled.

Implementations

impl<L: ControlLoop<Input = f64, Output = f64> + Unpin + Clone, A: ControlLoop<Input = Angle, Output = f64> + Unpin + Clone> Basic<L, A>

pub fn drive_distance_at_heading<'a, T: TracksForwardTravel + TracksHeading + TracksVelocity>( &mut self, drivetrain: &'a mut Drivetrain<Differential, T>, target_distance: f64, target_heading: Angle, ) -> DriveDistanceAtHeadingFuture<'a, L, A, T>

Moves the robot forwards by a given distance (measured in wheel units) while turning to face a heading.

Negative target_distance values will move the robot backwards.

pub fn drive_distance<'a, T: TracksForwardTravel + TracksHeading + TracksVelocity>( &mut self, drivetrain: &'a mut Drivetrain<Differential, T>, distance: f64, ) -> DriveDistanceAtHeadingFuture<'a, L, A, T>

Moves the robot forwards by a given distance (measured in wheel units).

Negative distance values will move the robot backwards.

pub fn turn_to_heading<'a, T: TracksForwardTravel + TracksHeading + TracksVelocity>( &mut self, drivetrain: &'a mut Drivetrain<Differential, T>, heading: Angle, ) -> DriveDistanceAtHeadingFuture<'a, L, A, T>

Turns the robot in place to face a heading.

pub fn turn_to_point<'a, T: TracksForwardTravel + TracksPosition + TracksHeading + TracksVelocity>( &mut self, drivetrain: &'a mut Drivetrain<Differential, T>, point: impl Into<Vec2<f64>>, ) -> TurnToPointFuture<'a, L, A, T>

Turns the robot in place to face a 2D point.

Trait Implementations

impl<L: PartialEq + ControlLoop<Input = f64, Output = f64> + Unpin + Clone, A: PartialEq + ControlLoop<Input = Angle, Output = f64> + Unpin + Clone> PartialEq for Basic<L, A>

fn eq(&self, other: &Basic<L, A>) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<L: ControlLoop<Input = f64, Output = f64> + Unpin + Clone, A: ControlLoop<Input = Angle, Output = f64> + Unpin + Clone> StructuralPartialEq for Basic<L, A>