Struct ServoSpec 

pub struct ServoSpec {
    pub min_pulse: u32,
    pub max_pulse: u32,
    pub min_angle: f32,
    pub max_angle: f32,
}

Servo motor specification

Fields

min_pulse: u32

max_pulse: u32

min_angle: f32

max_angle: f32

Implementations

impl ServoSpec

pub fn mg996r() -> Self

Examples found in repository

examples/basic.rs (line 7)

fn main() {
    let mut system = ServoSystem::new();

    // MG996R 6 channels robot arms example
    system.add_channel(ServoChannel::new(0, "base", ServoSpec::mg996r()));
    system.add_channel(ServoChannel::new(1, "shoulder", ServoSpec::mg996r()));
    system.add_channel(ServoChannel::new(2, "elbow", ServoSpec::mg996r()));
    system.add_channel(ServoChannel::new(3, "wrist_pitch", ServoSpec::mg996r()));
    system.add_channel(ServoChannel::new(4, "wrist_roll", ServoSpec::mg996r()));
    system.add_channel(ServoChannel::new(5, "gripper", ServoSpec::mg996r()));

    // angle control
    if let Some(servo) = system.get_channel_mut(0) {
        servo.set_angle(90.0);
        println!("Base angle = {}, pulse = {}", servo.angle, servo.get_pulse());
    }

    // pulse control
    if let Some(servo) = system.get_channel_mut(1) {
        servo.set_pulse(350);
        println!("Shoulder pulse=350 -> angle = {}", servo.angle);
    }
}

pub fn angle_to_pulse(&self, angle: f32) -> u32

Convert angle -> pulse

pub fn pulse_to_angle(&self, pulse: u32) -> f32

Convert pulse -> angle

Trait Implementations

impl Clone for ServoSpec

fn clone(&self) -> ServoSpec

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for ServoSpec

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for ServoSpec

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for ServoSpec

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.