Struct I2CDevices 

pub struct I2CDevices<'a, I2C: 'static> {
    pub pwm: Option<Pca9685<RefCellDevice<'a, I2C>>>,
    /* private fields */
}

High-level driver for PWM motor controller and IMU over a shared I2C bus.

Fields

pwm: Option<Pca9685<RefCellDevice<'a, I2C>>>

Implementations

impl<'a, I2C, E> I2CDevices<'a, I2C>

where I2C: I2c<Error = E> + 'static, E: Debug,

pub fn new( i2c_bus: &'a RefCell<I2C>, wheel_radius: f32, robot_radius: f32, ) -> Self

Create a new I2CDevices manager with specified wheel and robot dimensions.

pub fn init_devices(&mut self) -> Result<(), DeviceError<E>>

Initialize the IMU and PWM motor controller on the I2C bus.

On success, both self.imu and self.pwm are set. Returns error if initialization fails.

pub fn scan_bus(&self)

Scan the I2C bus for devices and log any found addresses.

pub fn configure_pwm(&mut self) -> Result<(), DeviceError<E>>

Configure and enable the PWM motor driver (prescale to 60Hz).

pub fn init_imu_data(&mut self)

Perform an initial IMU data read and log accelerometer, gyro, and temperature.

pub fn execute_command( &mut self, command: I2CCommand, ) -> Result<Option<((f32, f32, f32), (f32, f32, f32), f32)>, DeviceError<E>>

Execute a high-level I2CCommand, performing motion or sensor operations.

Returns sensor data for ReadIMU or None for other commands.

pub fn apply_wheel_speeds( &mut self, wheel_speeds: &[f32], ) -> Result<(), DeviceError<E>>

Applies calculated motor speeds using the PWM driver.

pub fn read_imu( &mut self, ) -> Result<((f32, f32, f32), (f32, f32, f32), f32), DeviceError<E>>

Read accelerometer, gyroscope, and temperature data from the IMU.

Returns

Ok(((ax, ay, az), (gx, gy, gz), temp)) on success.

pub fn enable(&mut self) -> Result<(), DeviceError<E>>

Enable the PWM motor controller and power up the IMU sensor.

pub fn disable(&mut self) -> Result<(), DeviceError<E>>

Disable motor PWM and put the IMU into sleep mode.