Struct SystemController

pub struct SystemController<I2C: 'static> {
    pub sensors: Option<I2CDevices<'static, I2C>>,
    pub robot_dimensions: (f32, f32),
}

Fields

sensors: Option<I2CDevices<'static, I2C>>

robot_dimensions: (f32, f32)

Implementations

impl<I2C> SystemController<I2C>

where I2C: I2c + 'static,

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

Create a new system controller for motor and IMU devices.

i2c_bus is the shared I2C bus reference. wheel_radius and robot_radius (in meters) default to 0.148 and 0.195 respectively if None.

pub async fn i2c_ch(&mut self) -> !

Start processing incoming SystemCommand messages indefinitely.

This loop receives commands from the global I2C_CHANNEL and dispatches motor/IMU operations. Never returns.