Struct OpticalEncoderSample 

pub struct OpticalEncoderSample {
    pub axis_id: u32,
    pub timestamp: f64,
    pub angle_rad: f64,
    pub velocity_rad_s: f64,
    pub ticks: i64,
}

A reading from an optical encoder.

Fields

axis_id: u32

Encoder axis ID.

timestamp: f64

Timestamp in seconds.

angle_rad: f64

Absolute angle in radians.

velocity_rad_s: f64

Angular velocity in rad/s (computed or measured).

ticks: i64

Encoder count (raw ticks).

Implementations

impl OpticalEncoderSample

pub fn new( axis_id: u32, timestamp: f64, angle_rad: f64, velocity_rad_s: f64, ticks: i64, ) -> Self

Create a new sample.

pub fn angle_deg(&self) -> f64

Angle in degrees.

pub fn velocity_rpm(&self) -> f64

Angular velocity in RPM.

pub fn to_bytes(&self) -> Vec<u8>

Serialize to 36 bytes (4 + 8 + 8 + 8 + 8).

pub fn from_bytes(data: &[u8]) -> Option<Self>

Deserialize from bytes.

Trait Implementations

impl Clone for OpticalEncoderSample

fn clone(&self) -> OpticalEncoderSample

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for OpticalEncoderSample

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for OpticalEncoderSample

fn eq(&self, other: &OpticalEncoderSample) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for OpticalEncoderSample