Struct ServoSystem 

pub struct ServoSystem {
    pub channels: Vec<ServoChannel>,
}

System of multiple servo channels

Fields

channels: Vec<ServoChannel>

Implementations

impl ServoSystem

pub fn new() -> Self

Examples found in repository

examples/basic.rs (line 4)

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 add_channel(&mut self, channel: ServoChannel)

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 get_channel_mut(&mut self, id: usize) -> Option<&mut ServoChannel>

Examples found in repository

examples/basic.rs (line 15)

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);
    }
}

Trait Implementations

impl Clone for ServoSystem

fn clone(&self) -> ServoSystem

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for ServoSystem

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for ServoSystem

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for ServoSystem

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

where __S: Serializer,

Serialize this value into the given Serde serializer.