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L298nMotorController

mecha10_controllers::l298n

Struct L298nMotorController 

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pub struct L298nMotorController { /* private fields */ }
Expand description

L298N Motor Controller

Provides differential drive control for robots using L298N dual H-bridge driver.

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impl L298nMotorController

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pub fn state(&self) -> ControllerState

Get current state

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pub fn config(&self) -> &L298nControllerConfig

Get configuration

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impl Controller for L298nMotorController

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type Config = L298nControllerConfig

Configuration type for this controller
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type Error = ControllerError

Error type for this controller
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fn init<'async_trait>( config: Self::Config, ) -> Pin<Box<dyn Future<Output = Result<Self, Self::Error>> + Send + 'async_trait>>
where Self: 'async_trait,

Initialize the controller with the given configuration Read more
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fn start<'life0, 'async_trait>( &'life0 mut self, ) -> Pin<Box<dyn Future<Output = Result<(), Self::Error>> + Send + 'async_trait>>
where Self: 'async_trait, 'life0: 'async_trait,

Start the controller Read more
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fn stop<'life0, 'async_trait>( &'life0 mut self, ) -> Pin<Box<dyn Future<Output = Result<(), Self::Error>> + Send + 'async_trait>>
where Self: 'async_trait, 'life0: 'async_trait,

Stop the controller Read more
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fn health_check<'life0, 'async_trait>( &'life0 self, ) -> Pin<Box<dyn Future<Output = ControllerHealth> + Send + 'async_trait>>
where Self: 'async_trait, 'life0: 'async_trait,

Check the health status of the controller
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fn capabilities(&self) -> ControllerCapabilities

Get the capabilities of this controller Read more
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fn diagnostics<'life0, 'async_trait>( &'life0 self, ) -> Pin<Box<dyn Future<Output = HashMap<String, String>> + Send + 'async_trait>>
where Self: 'async_trait, 'life0: 'async_trait,

Get controller-specific diagnostics Read more
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impl MotorController for L298nMotorController

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fn set_velocity<'life0, 'async_trait>( &'life0 mut self, left: f32, right: f32, ) -> Pin<Box<dyn Future<Output = Result<(), Self::Error>> + Send + 'async_trait>>
where Self: 'async_trait, 'life0: 'async_trait,

Set velocity command Read more
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fn get_encoders<'life0, 'async_trait>( &'life0 mut self, ) -> Pin<Box<dyn Future<Output = Result<(i32, i32), Self::Error>> + Send + 'async_trait>>
where Self: 'async_trait, 'life0: 'async_trait,

Get motor encoder readings Read more
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fn get_status<'life0, 'async_trait>( &'life0 mut self, ) -> Pin<Box<dyn Future<Output = Result<MotorStatus, Self::Error>> + Send + 'async_trait>>
where Self: 'async_trait, 'life0: 'async_trait,

Get motor status (velocities, current, temperature, etc.)
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fn emergency_stop<'life0, 'async_trait>( &'life0 mut self, ) -> Pin<Box<dyn Future<Output = Result<(), Self::Error>> + Send + 'async_trait>>
where Self: 'async_trait, 'life0: 'async_trait,

Emergency stop - immediately halt all motors
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fn enable<'life0, 'async_trait>( &'life0 mut self, ) -> Pin<Box<dyn Future<Output = Result<(), Self::Error>> + Send + 'async_trait>>
where Self: 'async_trait, 'life0: 'async_trait,

Enable motors (remove safe stop)
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fn disable<'life0, 'async_trait>( &'life0 mut self, ) -> Pin<Box<dyn Future<Output = Result<(), Self::Error>> + Send + 'async_trait>>
where Self: 'async_trait, 'life0: 'async_trait,

Disable motors (safe stop, motors can freewheel)
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fn reset_encoders<'life0, 'async_trait>( &'life0 mut self, ) -> Pin<Box<dyn Future<Output = Result<(), Self::Error>> + Send + 'async_trait>>
where Self: 'async_trait, 'life0: 'async_trait,

Reset encoder counts
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fn set_twist<'life0, 'async_trait>( &'life0 mut self, twist: Twist, ) -> Pin<Box<dyn Future<Output = Result<(), Self::Error>> + Send + 'async_trait>>
where Self: Send + 'async_trait, 'life0: 'async_trait,

Set twist command (linear and angular velocities) Read more
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fn set_pid_gains<'life0, 'async_trait>( &'life0 mut self, _gains: PidGains, ) -> Pin<Box<dyn Future<Output = Result<(), Self::Error>> + Send + 'async_trait>>
where Self::Error: From<ControllerError>, Self: Send + 'async_trait, 'life0: 'async_trait,

Set PID gains (if supported)
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fn get_pid_gains<'life0, 'async_trait>( &'life0 self, ) -> Pin<Box<dyn Future<Output = Result<PidGains, Self::Error>> + Send + 'async_trait>>
where Self::Error: From<ControllerError>, Self: Sync + 'async_trait, 'life0: 'async_trait,

Get current PID gains (if supported)

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