Crate gmt_dos_clients_servos
source ·Expand description
§GMT Servo-Mechanisms
A dos-actors system that combines together a few clients:
Per default, only a few inputs and outputs of the FEM are made available:
- FEM inputs:
- FEM outputs
Other builders will add extra inputs and outputs to the FEM. These builders are:
- [
AsmsServo
]- [
Facesheet
][asms_servo::Facesheet] - [
ReferenceBody
][asms_servo::ReferenceBody] - [
VoiceCoils
][asms_servo::VoiceCoils]
- [
- [
WindLoads
] - [
EdgeSensors
]
§Warning
The gmt_dos-clients_servos
crate depends on some code that is generated at compile timed
based on the value of the environment variables FEM_REPO
and MOUNT_MODEL
.
To get the full documentation, you need to set the FEM_REPO
environment variable and
recompile the docs locally with:
FEM_REPO=<path-to-fem> cargo doc --no-deps --package gmt_dos-clients_servos --open
§Example
use gmt_dos_clients_servos::{asms_servo, AsmsServo, GmtServoMechanisms};
use gmt_fem::FEM;
const ACTUATOR_RATE: usize = 80; // 100Hz
let frequency = 8000_f64; // Hz
let fem = FEM::from_env()?;
let gmt_servos =
GmtServoMechanisms::<ACTUATOR_RATE, 1>::new(frequency, fem).build()?;