Struct rex_ucph::Arlo

pub struct Arlo {
    pub speed: Option<u8>,
    pub turn_speed: Option<u8>,
    pub step_time: Option<usize>,
    pub turn_time: Option<usize>,
    // some fields omitted
}

Fields

speed: Option<u8>

turn_speed: Option<u8>

step_time: Option<usize>

turn_time: Option<usize>

Methods

impl Arlo

pub fn new() -> Result<Self, sError>

pub fn new_port(port: &str) -> Result<Self, sError>

pub fn go_diff(     &mut self,     power_left: u8,     power_right: u8,     dir_left: u8,     dir_right: u8 ) -> String

Start left motor with motor power powerLeft (in [0;127]) and direction dirLeft (0=reverse, 1=forward) and right motor with motor power powerRight (in [0;127]) and direction dirRight (0=reverse, 1=forward).

NOTE: Does NOT use wheel encoders.

pub fn stop(&mut self) -> String

Send a stop command to stop motors. Sets the motor power on both wheels to zero.

NOTE: Does NOT use wheel encoders.

pub fn go(&mut self) -> String

Send a go command for continuous forward driving using the wheel encoders

pub fn backward(&mut self) -> String

Send a backward command for continuous reverse driving using the wheel encoders

pub fn left(&mut self) -> String

Send a rotate left command for continuous rotating left using the wheel encoders

pub fn right(&mut self) -> String

Send a rotate right command for continuous rotating right using the wheel encoders

pub fn step_forward(&mut self) -> String

Send a step forward command for driving forward using the wheel encoders for a predefined amount of time

pub fn step_backward(&mut self) -> String

Send a step backward command for driving backward using the wheel encoders for a predefined amount of time

pub fn step_rotate_left(&mut self) -> String

Send a step rotate left command for rotating left using the wheel encoders for a predefined amount of time

pub fn step_rotate_right(&mut self) -> String

Send a step rotate right command for rotating right using the wheel encoders for a predefined amount of time

pub fn read_front_ping_sensor(&mut self) -> Result<usize, ()>

Read the front sonar ping sensor and return the measured range in milimeters [mm]

pub fn read_back_ping_sensor(&mut self) -> Result<usize, ()>

Read the back sonar ping sensor and return the measured range in milimeters [mm]

pub fn read_left_ping_sensor(&mut self) -> Result<usize, ()>

Read the left sonar ping sensor and return the measured range in milimeters [mm]

pub fn read_right_ping_sensor(&mut self) -> Result<usize, ()>

Read the right sonar ping sensor and return the measured range in milimeters [mm]

pub fn set_speed(&mut self, speed: u8) -> String

Speed must be a value in the range [0; 255]. This speed is used in commands based on using the wheel encoders.

pub fn set_turnspeed(&mut self, turn_speed: u8) -> String

Turnspeed must be a value in the range [0; 255]. This speed is used in commands based on using the wheel encoders.

pub fn set_step_time(&mut self, step_time: usize) -> String

steptime is the amount of miliseconds used in the step_forward and step_backwards commands.

pub fn set_turn_time(&mut self, step_time: usize) -> String

turntime is the amount of miliseconds used in the step_rotate_left and step_rotate_right commands.

pub fn read_left_wheel_encoder(&mut self) -> usize

Reads the left wheel encoder counts since last reset_encoder_counts command. The encoder has 144 counts for one complete wheel revolution.

pub fn read_right_wheel_encoder(&mut self) -> usize

Reads the right wheel encoder counts since last clear reset_encoder_counts command. The encoder has 144 counts for one complete wheel revolution.

pub fn reset_encoder_counts(&mut self) -> String

Reset the wheel encoder counts.

Trait Implementations

impl Drop for Arlo

fn drop(&mut self)

Executes the destructor for this type.