Struct Ramp 

pub struct Ramp { /* private fields */ }

Moves a value toward a target by at most a fixed step each update.

Commanding an actuator straight to a new value can be harsh: a motor lurches, a valve slams, a lamp jumps. A Ramp limits how fast the commanded value may change, easing it toward the target by at most max_step per update and snapping to the target once it is within a step. It is the slew-rate limiter behind a smooth start and stop.

Examples

use pamoja_kit::Ramp;

// Start at 0, move at most 2 per step, aim for 5.
let mut ramp = Ramp::new(0.0, 2.0);
assert_eq!(ramp.update(5.0), 2.0);
assert_eq!(ramp.update(5.0), 4.0);
assert_eq!(ramp.update(5.0), 5.0); // within a step: snaps to the target

Implementations

impl Ramp

pub fn new(start: f32, max_step: f32) -> Self

Creates a ramp starting at start that moves at most max_step per update.

Arguments

• start - the initial value.
• max_step - the largest change allowed per update; its magnitude is used.

Returns

A ramp resting at start.

pub fn update(&mut self, target: f32) -> f32

Moves toward target by at most the step and returns the new value.

Arguments

• target - the value being approached.

Returns

The value after one limited step, equal to target once within a step of it.

pub fn update_capped(&mut self, target: f32, max_step: f32) -> f32

Moves toward target by at most max_step this update, overriding the fixed rate.

This is the variable-rate cousin of update: a bounded-acceleration limiter passes accel * dt as the step so the change allowed each update scales with the time since the last one, rather than the constant step fixed at construction.

Arguments

• target - the value being approached.
• max_step - the largest change allowed this update; its magnitude is used.

Returns

The value after one limited step, equal to target once within max_step of it.

pub fn value(&self) -> f32

Returns the current value.

pub fn set(&mut self, value: f32)

Jumps directly to value, bypassing the rate limit.

Arguments

• value - the new value.

Trait Implementations

impl Clone for Ramp

fn clone(&self) -> Ramp

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Ramp

impl Debug for Ramp

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

Formats the value using the given formatter.