Struct Servo 

pub struct Servo { /* private fields */ }

Represents a Servo controlled by a PWM pin.

Implementations

impl Servo

pub fn new(board: &dyn Hardware, pin: u8, default: u16) -> Result<Self, Error>

Creates an instance of a Servo attached to a given board.

Errors

• UnknownPin: this function will bail an error if the pin does not exist for this board.
• IncompatiblePin: this function will bail an error if the pin does not support SERVO mode.

pub fn new_inverted( board: &dyn Hardware, pin: u8, default: u16, ) -> Result<Self, Error>

Creates an instance of an inverted Servo attached to a given board (see Self::set_inverted`).

Errors

• UnknownPin: this function will bail an error if the pin does not exist for this board.
• IncompatiblePin: this function will bail an error if the pin does not support SERVO mode.

pub fn to(&mut self, to: u16) -> Result<&Self, Error>

Moves the servo to the requested position at max speed.

pub fn sweep(&mut self, ms: u64) -> &Self

Sweeps the servo in phases of ms (milliseconds) duration. This is an animation and can be stopped by calling Self::stop().

Parameters

• ms: the blink duration in milliseconds

pub fn get_pin(&self) -> u8

Returns the pin (id) used by the device.

pub fn get_pin_info(&self) -> Result<Pin, Error>

Returns Pin information.

pub fn get_type(&self) -> ServoType

Returns the servo type.

pub fn set_type(self, servo_type: ServoType) -> Self

Sets the servo type.

pub fn get_range(&self) -> Range<u16>

Returns the servo motion range limitation in degree.

A servo has a physical range (cf Self::set_degree_range) corresponding to a command range limitation (cf Self::set_pwn_range). Those are intrinsic top the servo itself. On the contrary, the motion range limitation here is a limitation you want to set for your servo because of how it is used in your robot: for example an arm that can turn only 20-40° in motion range.

pub fn set_range<R: Into<Range<u16>>>(self, range: R) -> Self

Sets the Servo motion range limitation in degree. This guarantee the servo to stays in the given range at any time.

• No matter the order given, the range will always have min <= max
• No matter the values given, the range will always stay within the Servo degree_range.

pub fn get_degree_range(&self) -> Range<u16>

Returns the theoretical range of degrees of movement for the servo (some servos can range from 0 to 90°, 180°, 270°, 360°, etc.).

pub fn set_degree_range<R: Into<Range<u16>>>(self, degree_range: R) -> Self

Sets the theoretical range of degrees of movement for the servo (some servos can range from 0 to 90°, 180°, 270°, 360°, etc.).

• No matter the order given, the range will always have min <= max
• This may impact the range since it will always stay within the given degree_range.

pub fn get_pwn_range(&self) -> Range<u16>

Returns the theoretical range of pwm controls the servo response to.

pub fn set_pwn_range<R: Into<Range<u16>>>( self, pwm_range: R, ) -> Result<Self, Error>

Sets the theoretical range of pwm controls the servo response to.

Parameters

• pwm_range: the range limitation

pub fn is_inverted(&self) -> bool

Returns if the servo command is set to be inverted.

pub fn set_inverted(self, inverted: bool) -> Self

Sets the servo command inversion mode.

pub fn is_auto_detach(&self) -> bool

Returns if the servo command is set to be auto_detach itself.

pub fn set_auto_detach(self, auto_detach: bool) -> Self

Sets the servo to auto-detach itself after a given delay.

pub fn get_detach_delay(&self) -> usize

Returns the delay (in ms) before the servo is auto-detach (if enabled).

pub fn set_detach_delay(self, detach_delay: usize) -> Self

Sets the delay (in ms) before the servo is auto-detach (if enabled).

Trait Implementations

impl Clone for Servo

fn clone(&self) -> Servo

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Servo

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Device for Servo

impl Display for Servo

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Output for Servo

fn set_state(&mut self, state: State) -> Result<State, Error>

Internal only: you should rather use Self::to() function.

fn get_state(&self) -> State

Returns the actuator current state.

fn get_default(&self) -> State

Returns the actuator default (or neutral) state.

fn animate<S: Into<State>>( &mut self, state: S, duration: u64, transition: Easing, )

Animates the output of the device. In other word: the state of the device will be animated from current step to targeted step through an interpolation of in-between states. The function will last for the required duration and the interpolation will follow an easing transition function.

fn is_busy(&self) -> bool

Indicates the busy status, ie if the device is running an animation.

fn stop(&mut self)

Stops the current animation, if any.

fn reset(&mut self) -> Result<State, Error>

Resets the actuator to default (or neutral) state.

fn scale_state( &mut self, previous: State, target: State, progress: f32, ) -> State

Internal only.