Struct Robot 

pub struct Robot { /* private fields */ }

A two-motor differential-drive robot controller.

The robot smoothly ramps motor speeds from the current value to the target in a background task. Call drive to set target speeds and stop to decelerate to zero.

Shutdown

Call shutdown to cancel the background task and stop all motors. The robot also stops motors when dropped, but explicit shutdown is preferred.

Implementations

impl Robot

pub fn new( motor_board: Arc<Mutex<dyn MotorDriver>>, config: RobotConfig, ) -> Result<Arc<Self>, RobotError>

Create a new robot with the given motor driver and configuration.

Spawns a background task for smooth motor ramping. The task runs until shutdown is called or the Robot is dropped.

Errors

Returns RobotError::Motor wrapping MotorError::Init if the configuration is invalid. No controller task or driver writes are started on validation failure; constructing the driver itself may access hardware.

pub async fn drive(&self, left: f32, right: f32) -> Result<(), RobotError>

Set target motor speeds.

Finite values are clamped to [-1.0, 1.0], multiplied by the motor factors from RobotConfig, then clamped again to the supported output range. A non-finite input rejects the entire command without changing targets.

Errors

Returns RobotError::Shutdown if the robot has been shut down. Returns RobotError::Motor wrapping MotorError::Pwm for a non-finite input, retaining the existing error API.

pub async fn stop(&self) -> Result<(), RobotError>

Set target speeds to zero (motors will ramp down smoothly).

Errors

Returns RobotError::Shutdown if the robot has been shut down.

pub async fn shutdown(&self)

Cancel the background task and stop all motors immediately.