Struct MotionPolynomialExecutor 

pub struct MotionPolynomialExecutor<const N: usize> { /* private fields */ }

PolyMotion manages a queue of MotionTask items and updates them discretely according to a set frequency.

Implementations

impl<const N: usize> MotionPolynomialExecutor<N>

pub fn new(freq: u16) -> Self

Creates a new MotionExecutor with a given frequency (Hz).

pub fn add_task(&mut self, task: MotionPolynomial)

Adds a motion task to the FIFO buffer.

pub fn tick(&mut self)

Increments the time step by one, updating internal state or moving to the next task.

pub fn set_freq(&mut self, freq: i16)

Sets a new frequency in Hz.

pub fn get_acc(&self) -> f64

Returns the current acceleration.

pub fn get_vel(&self) -> f64

Returns the current velocity.

pub fn get_pos(&self) -> f64

Returns the current position.

pub fn is_full(&self) -> bool

Checks if the buffer is full.