Struct ServoMap 

pub struct ServoMap { /* private fields */ }

Maps a servo angle to its RC pulse width in microseconds, and back.

A hobby servo is positioned by the width of a pulse repeated about every 20 ms: the standard range is 1000 to 2000 microseconds spanning the full travel, with 1500 at centre. ServoMap::standard uses those defaults over 180 degrees; ServoMap::new covers servos with a different range or travel.

Examples

use pamoja_kit::ServoMap;

let servo = ServoMap::standard();
assert_eq!(servo.pulse(0.0), 1000);
assert_eq!(servo.pulse(90.0), 1500); // centre
assert_eq!(servo.pulse(180.0), 2000);
assert!((servo.angle(1500) - 90.0).abs() < 1e-3);

Implementations

impl ServoMap

pub fn standard() -> Self

Returns the standard hobby-servo map: 1000 to 2000 microseconds over 180 degrees.

Returns

The standard map.

pub fn new(min_us: u16, max_us: u16, range_deg: f32) -> Self

Creates a map from explicit pulse and travel limits.

Arguments

• min_us - the pulse width at zero degrees.
• max_us - the pulse width at full travel.
• range_deg - the full travel in degrees; its magnitude is used.

Returns

The map.

pub fn pulse(&self, angle_deg: f32) -> u16

Returns the pulse width for an angle.

Arguments

• angle_deg - the desired angle in degrees, clamped to [0, range].

Returns

The pulse width in microseconds.

pub fn angle(&self, pulse_us: u16) -> f32

Returns the angle for a pulse width.

Arguments

• pulse_us - the pulse width in microseconds, clamped to the configured range.

Returns

The angle in degrees, zero when the pulse range is empty.

Trait Implementations

impl Clone for ServoMap

fn clone(&self) -> ServoMap

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for ServoMap

impl Debug for ServoMap

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

Formats the value using the given formatter.