Struct LegoRobot 

pub struct LegoRobot { /* private fields */ }

Implementations

impl LegoRobot

pub fn new( motor_definitions: &[(MotorId, MotorPort)], pid_config: PidConfig, spec: RobotSpec, angle_algorithm: AngleAlgorithm, ) -> Result<Self>

pub fn rediscover_motors(&mut self) -> Result<()>

pub fn rediscover_sensors(&mut self) -> Result<()>

Trait Implementations

impl AngleProvider for LegoRobot

fn angle(&self) -> Result<Heading>

Retrieves the robot’s current heading

impl Robot for LegoRobot

fn drive( &self, distance: impl Into<Distance>, speed: impl Into<Speed>, ) -> Result<()>

Drive the robot using the gyro to correct for errors

fn turn(&self, angle: Heading, speed: impl Into<Speed>) -> Result<()>

Turns the robot using the gyro sensor Guesses the turn type from the turn direction

fn turn_named( &self, angle: Heading, speed: impl Into<Speed>, turn: TurnType, ) -> Result<()>

Turns the robot Uses specified turn type using the gyro sensor

fn motor(&self, motor_id: MotorId) -> Option<RefMut<'_, dyn Motor>>

Retereives a motor

fn color_sensor(&self, port: SensorPort) -> Option<RefMut<'_, dyn ColorSensor>>

fn process_buttons(&self) -> Result<Input>

Returns the status of the robot’s buttons

fn battery(&self) -> Result<Percent>

Retrieves the battery percentage Ranges from 0.0 -> 1.0

fn await_input(&self, timeout: Option<Duration>) -> Result<Input>

Waits for the status of the robot’s buttons and returns that new status

fn stop(&self) -> Result<()>

Stops the robot’s motors

fn reset(&self) -> Result<()>

Resets the robot’s state

fn spec(&self) -> &RobotSpec

Returns information about the robot

fn set_heading(&self, angle: Heading) -> Result<()>

fn handle_interrupt(&self) -> Result<()>

Returns an error if an interrupt has been requested Otherwise, returns Ok(())