Module utils

Utility re-exports and helper macros for the Omni-Wheel Bot.

This module re-exports core components, timing, kinematics, and connection controllers, and provides helper macros and embedded web assets:

• connection: WebSocket server and message handling
• controllers: I2C and LED controllers for robotics hardware
• math: kinematics calculations for omni-wheel motion
• frontend: compressed HTML/CSS/JS assets for the web UI

The mk_static! macro simplifies static initialization in no-std contexts.

Re-exports

pub use connection::server::run as wss;

pub use controllers::SystemController;

pub use math::kinematics::EmbodiedKinematics as ek;

Modules

connection

Module Exports

controllers

Controllers and command definitions for Omni-Wheel Bot hardware.

math

Math utilities for the Omni-Wheel Bot.

Structs

Delay

Type implementing async delays and blocking embedded-hal delays.

Duration

Represents the difference between two Instants

Instant

An Instant in time, based on the MCU’s clock ticks since startup.

Ticker

Asynchronous stream that yields every Duration, indefinitely.

TimeoutError

Error returned by with_timeout and with_deadline on timeout.

Timer

A future that completes at a specified Instant.

Constants

TICK_HZ

Ticks per second of the global timebase.

Traits

WithTimeout

Provides functions to run a given future with a timeout or a deadline.

Functions

block_for

Blocks for at least duration.

with_deadline

Runs a given future with a deadline time.

with_timeout

Runs a given future with a timeout.