Struct MotorDriverWrapper 

pub struct MotorDriverWrapper<E1, E2, P1, P2> { /* private fields */ }

Implementations

impl<E1, E2, P1, P2> MotorDriverWrapper<E1, E2, P1, P2>

where E1: OutputPin, E2: OutputPin, P1: SetDutyCycle, P2: SetDutyCycle,

pub fn builder() -> MotorDriverBuilder<E1, E2, P1, P2>

Trait Implementations

impl<E1, E2, P1, P2> MotorDriver for MotorDriverWrapper<E1, E2, P1, P2>

where E1: OutputPin, E2: OutputPin, P1: SetDutyCycle, P2: SetDutyCycle,

type Error = MotorDriverError

The error type returned by this driver’s operations.

fn initialize(&mut self) -> Result<(), Self::Error>

Initializes the motor driver hardware.

fn set_speed(&mut self, speed: i16) -> Result<(), Self::Error>

Sets the motor speed and direction.

fn set_direction(&mut self, forward: bool) -> Result<(), Self::Error>

Sets the motor direction without changing speed magnitude.

fn stop(&mut self) -> Result<(), Self::Error>

Stops the motor by setting PWM to zero (coast stop).

fn brake(&mut self) -> Result<(), Self::Error>

Applies active braking to the motor.

fn enable(&mut self) -> Result<(), Self::Error>

Enables the motor driver.

fn disable(&mut self) -> Result<(), Self::Error>

Disables the motor driver.

fn get_speed(&self) -> Result<i16, Self::Error>

Gets the current motor speed setting.

fn get_direction(&self) -> Result<bool, Self::Error>

Gets the current motor direction.

fn get_current(&self) -> Result<f32, Self::Error>

Gets the current motor current consumption.

fn get_voltage(&self) -> Result<f32, Self::Error>

Gets the current motor supply voltage.

fn get_temperature(&self) -> Result<f32, Self::Error>

Gets the current motor driver temperature.

fn get_fault_status(&self) -> Result<u8, Self::Error>

Gets the current fault status of the motor driver.

fn set_ppr(&mut self, ppr: i16) -> Result<bool, Self::Error>

Sets the pulses per revolution for encoder calculations.

fn check_ppr(&mut self) -> Result<(), Self::Error>

Checks if the encoder pulse count matches the target position.