Struct Runner 

pub struct Runner<'a, C = MonotonicCurveLut256>
where
    C: MonotonicCurve<u8, u8> + Copy,
{ /* private fields */ }

Executes a Program against an ERM or LRA motor configuration.

The caller supplies a free-running wrapping u32 millisecond clock to Runner::poll and applies the returned DriveCommand. Polling may then pause until Frame::next_transition_ms; fixed-rate polling is unnecessary.

Implementations

impl<'a, C> Runner<'a, C>

where C: MonotonicCurve<u8, u8> + Copy,

pub fn start(&mut self, now_ms: u32)

Start playback at now_ms.

pub fn restart(&mut self, now_ms: u32)

Restart playback from the beginning at now_ms.

pub fn start_and_poll(&mut self, now_ms: u32) -> Frame

Start playback at now_ms and return the first frame.

pub fn poll_or_start(&mut self, now_ms: u32) -> Frame

Poll current output; if not running, start playback at now_ms first.

pub fn stop(&mut self)

Stop playback.

pub const fn is_running(&self) -> bool

Whether the program is currently running.

pub const fn motor(&self) -> MotorConfig

Motor configuration assigned to this runner.

pub const fn start_ms(&self) -> u32

Current start timestamp used as cycle origin.

pub fn poll(&mut self, now_ms: u32) -> Frame

Evaluate output for the wrapping millisecond clock value now_ms.

The returned frame’s deadline is the earliest time the command may change. Callers should wait with wrapping arithmetic and poll again at that deadline. If the deadline equals now_ms, poll again immediately to drain the control-flow transition. Completion is edge-triggered; see Frame::finished.

Trait Implementations

impl<'a, C> Debug for Runner<'a, C>

where C: MonotonicCurve<u8, u8> + Copy + Debug,

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

Formats the value using the given formatter.