ServoSystem

servo_libs_simulator

Struct ServoSystem 

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

System of multiple servo channels

Fields§

§channels: Vec<ServoChannel>

Implementations§

Source§

impl ServoSystem

Source

pub fn new() -> Self

Examples found in repository?
examples/egui_demo.rs (line 10)
9    fn default() -> Self {
10        let mut system = ServoSystem::new();
11        system.add_channel(ServoChannel::new(0, "Base", ServoSpec::mg996r()));
12        system.add_channel(ServoChannel::new(1, "Shoulder", ServoSpec::mg996r()));
13        system.add_channel(ServoChannel::new(2, "Elbow", ServoSpec::mg996r()));
14        system.add_channel(ServoChannel::new(3, "Wrist UD", ServoSpec::mg996r()));
15        system.add_channel(ServoChannel::new(4, "Wrist LR", ServoSpec::mg996r()));
16        system.add_channel(ServoChannel::new(5, "Gripper", ServoSpec::mg996r()));
17        Self { system }
18    }
More examples
Hide additional examples
examples/basic.rs (line 128)
3fn main() {
4        println!("\n");
5        println!("--- Servo Controller Basic Example ---");
6
7        // MG996R spec create
8        let spec = ServoSpec::mg996r();
9
10        // MG996R 6 channels robot arms example
11        let mut servo0 = ServoChannel::new(0, "base", spec.clone());
12        let mut servo1 = ServoChannel::new(1, "shoulder", spec.clone());
13        let mut servo2 = ServoChannel::new(2, "elbow", spec.clone());
14        let mut servo3 = ServoChannel::new(3, "wrist_pitch", spec.clone());
15        let mut servo4 = ServoChannel::new(4, "wrist_roll", spec.clone());
16        let mut servo5 = ServoChannel::new(5, "gripper", spec.clone());
17
18        // angle init
19        servo0.set_angle(90.0);
20        servo1.set_angle(90.0);
21        servo2.set_angle(90.0);
22        servo3.set_angle(90.0);
23        servo4.set_angle(90.0);
24        servo5.set_angle(90.0);
25
26        println!(
27                "{}: angle {:.1}° → pulse {}",
28                servo0.name,
29                servo0.angle,
30                servo0.get_pulse()
31        );
32        println!(
33                "{}: angle {:.1}° → pulse {}",
34                servo1.name,
35                servo1.angle,
36                servo1.get_pulse()
37        );
38        println!(
39                "{}: angle {:.1}° → pulse {}",
40                servo2.name,
41                servo2.angle,
42                servo2.get_pulse()
43        );
44        println!(
45                "{}: angle {:.1}° → pulse {}",
46                servo3.name,
47                servo3.angle,
48                servo3.get_pulse()
49        );
50        println!(
51                "{}: angle {:.1}° → pulse {}",
52                servo4.name,
53                servo4.angle,
54                servo4.get_pulse()
55        );
56        println!(
57                "{}: angle {:.1}° → pulse {}",
58                servo5.name,
59                servo5.angle,
60                servo5.get_pulse()
61        );
62
63        // pulse -> angle convert test
64        servo0.set_pulse(350);
65        println!(
66                "{}: pulse {} → angle {:.1}°",
67                servo0.name,
68                servo0.get_pulse(),
69                servo0.angle
70        );
71        servo1.set_pulse(400);
72        println!(
73                "{}: pulse {} → angle {:.1}°",
74                servo1.name,
75                servo1.get_pulse(),
76                servo1.angle
77        );
78        servo2.set_pulse(450);
79        println!(
80                "{}: pulse {} → angle {:.1}°",
81                servo2.name,
82                servo2.get_pulse(),
83                servo2.angle
84        );
85        servo3.set_pulse(500);
86        println!(
87                "{}: pulse {} → angle {:.1}°",
88                servo3.name,
89                servo3.get_pulse(),
90                servo3.angle
91        );
92        servo4.set_pulse(550);
93        println!(
94                "{}: pulse {} → angle {:.1}°",
95                servo4.name,
96                servo4.get_pulse(),
97                servo4.angle
98        );
99        servo5.set_pulse(600);
100        println!(
101                "{}: pulse {} → angle {:.1}°",
102                servo5.name,
103                servo5.get_pulse(),
104                servo5.angle
105        );
106
107        println!("\n");
108        // increment / decrement
109        servo0.increment(10.0);
110        println!("{} incremented → {:.1}°", servo1.name, servo1.angle);
111
112        servo1.decrement(30.0);
113        println!("{} decremented → {:.1}°", servo1.name, servo1.angle);
114
115        servo2.increment(20.0);
116        println!("{} incremented → {:.1}°", servo2.name, servo2.angle);
117
118        servo3.decrement(40.0);
119        println!("{} decremented → {:.1}°", servo2.name, servo2.angle);
120
121        servo4.increment(20.0);
122        println!("{} incremented → {:.1}°", servo4.name, servo4.angle);
123        
124        servo5.decrement(15.0);
125        println!("{} decremented → {:.1}°", servo5.name, servo5.angle);
126
127        // ServoSystem Add channels
128        let mut system = ServoSystem::new();
129        system.add_channel(servo0);
130        system.add_channel(servo1);
131
132        println!("\n--- ServoSystem status ---");
133        for servo in &system.channels {
134                println!(
135                "Channel {} ({}): angle {:.1}° → pulse {}",
136                servo.id,
137                servo.name,
138                servo.angle,
139                servo.get_pulse()
140                );
141        }
142
143        // get_channel_mut 예제
144        if let Some(shoulder) = system.get_channel_mut(1) {
145                shoulder.set_angle(120.0);
146                println!(
147                "\nafter update {}: angle {:.1}° → pulse {}",
148                shoulder.name,
149                shoulder.angle,
150                shoulder.get_pulse()
151                );
152        }
153}
Source

pub fn add_channel(&mut self, channel: ServoChannel)

Examples found in repository?
examples/egui_demo.rs (line 11)
9    fn default() -> Self {
10        let mut system = ServoSystem::new();
11        system.add_channel(ServoChannel::new(0, "Base", ServoSpec::mg996r()));
12        system.add_channel(ServoChannel::new(1, "Shoulder", ServoSpec::mg996r()));
13        system.add_channel(ServoChannel::new(2, "Elbow", ServoSpec::mg996r()));
14        system.add_channel(ServoChannel::new(3, "Wrist UD", ServoSpec::mg996r()));
15        system.add_channel(ServoChannel::new(4, "Wrist LR", ServoSpec::mg996r()));
16        system.add_channel(ServoChannel::new(5, "Gripper", ServoSpec::mg996r()));
17        Self { system }
18    }
More examples
Hide additional examples
examples/basic.rs (line 129)
3fn main() {
4        println!("\n");
5        println!("--- Servo Controller Basic Example ---");
6
7        // MG996R spec create
8        let spec = ServoSpec::mg996r();
9
10        // MG996R 6 channels robot arms example
11        let mut servo0 = ServoChannel::new(0, "base", spec.clone());
12        let mut servo1 = ServoChannel::new(1, "shoulder", spec.clone());
13        let mut servo2 = ServoChannel::new(2, "elbow", spec.clone());
14        let mut servo3 = ServoChannel::new(3, "wrist_pitch", spec.clone());
15        let mut servo4 = ServoChannel::new(4, "wrist_roll", spec.clone());
16        let mut servo5 = ServoChannel::new(5, "gripper", spec.clone());
17
18        // angle init
19        servo0.set_angle(90.0);
20        servo1.set_angle(90.0);
21        servo2.set_angle(90.0);
22        servo3.set_angle(90.0);
23        servo4.set_angle(90.0);
24        servo5.set_angle(90.0);
25
26        println!(
27                "{}: angle {:.1}° → pulse {}",
28                servo0.name,
29                servo0.angle,
30                servo0.get_pulse()
31        );
32        println!(
33                "{}: angle {:.1}° → pulse {}",
34                servo1.name,
35                servo1.angle,
36                servo1.get_pulse()
37        );
38        println!(
39                "{}: angle {:.1}° → pulse {}",
40                servo2.name,
41                servo2.angle,
42                servo2.get_pulse()
43        );
44        println!(
45                "{}: angle {:.1}° → pulse {}",
46                servo3.name,
47                servo3.angle,
48                servo3.get_pulse()
49        );
50        println!(
51                "{}: angle {:.1}° → pulse {}",
52                servo4.name,
53                servo4.angle,
54                servo4.get_pulse()
55        );
56        println!(
57                "{}: angle {:.1}° → pulse {}",
58                servo5.name,
59                servo5.angle,
60                servo5.get_pulse()
61        );
62
63        // pulse -> angle convert test
64        servo0.set_pulse(350);
65        println!(
66                "{}: pulse {} → angle {:.1}°",
67                servo0.name,
68                servo0.get_pulse(),
69                servo0.angle
70        );
71        servo1.set_pulse(400);
72        println!(
73                "{}: pulse {} → angle {:.1}°",
74                servo1.name,
75                servo1.get_pulse(),
76                servo1.angle
77        );
78        servo2.set_pulse(450);
79        println!(
80                "{}: pulse {} → angle {:.1}°",
81                servo2.name,
82                servo2.get_pulse(),
83                servo2.angle
84        );
85        servo3.set_pulse(500);
86        println!(
87                "{}: pulse {} → angle {:.1}°",
88                servo3.name,
89                servo3.get_pulse(),
90                servo3.angle
91        );
92        servo4.set_pulse(550);
93        println!(
94                "{}: pulse {} → angle {:.1}°",
95                servo4.name,
96                servo4.get_pulse(),
97                servo4.angle
98        );
99        servo5.set_pulse(600);
100        println!(
101                "{}: pulse {} → angle {:.1}°",
102                servo5.name,
103                servo5.get_pulse(),
104                servo5.angle
105        );
106
107        println!("\n");
108        // increment / decrement
109        servo0.increment(10.0);
110        println!("{} incremented → {:.1}°", servo1.name, servo1.angle);
111
112        servo1.decrement(30.0);
113        println!("{} decremented → {:.1}°", servo1.name, servo1.angle);
114
115        servo2.increment(20.0);
116        println!("{} incremented → {:.1}°", servo2.name, servo2.angle);
117
118        servo3.decrement(40.0);
119        println!("{} decremented → {:.1}°", servo2.name, servo2.angle);
120
121        servo4.increment(20.0);
122        println!("{} incremented → {:.1}°", servo4.name, servo4.angle);
123        
124        servo5.decrement(15.0);
125        println!("{} decremented → {:.1}°", servo5.name, servo5.angle);
126
127        // ServoSystem Add channels
128        let mut system = ServoSystem::new();
129        system.add_channel(servo0);
130        system.add_channel(servo1);
131
132        println!("\n--- ServoSystem status ---");
133        for servo in &system.channels {
134                println!(
135                "Channel {} ({}): angle {:.1}° → pulse {}",
136                servo.id,
137                servo.name,
138                servo.angle,
139                servo.get_pulse()
140                );
141        }
142
143        // get_channel_mut 예제
144        if let Some(shoulder) = system.get_channel_mut(1) {
145                shoulder.set_angle(120.0);
146                println!(
147                "\nafter update {}: angle {:.1}° → pulse {}",
148                shoulder.name,
149                shoulder.angle,
150                shoulder.get_pulse()
151                );
152        }
153}
Source

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

Examples found in repository?
examples/basic.rs (line 144)
3fn main() {
4        println!("\n");
5        println!("--- Servo Controller Basic Example ---");
6
7        // MG996R spec create
8        let spec = ServoSpec::mg996r();
9
10        // MG996R 6 channels robot arms example
11        let mut servo0 = ServoChannel::new(0, "base", spec.clone());
12        let mut servo1 = ServoChannel::new(1, "shoulder", spec.clone());
13        let mut servo2 = ServoChannel::new(2, "elbow", spec.clone());
14        let mut servo3 = ServoChannel::new(3, "wrist_pitch", spec.clone());
15        let mut servo4 = ServoChannel::new(4, "wrist_roll", spec.clone());
16        let mut servo5 = ServoChannel::new(5, "gripper", spec.clone());
17
18        // angle init
19        servo0.set_angle(90.0);
20        servo1.set_angle(90.0);
21        servo2.set_angle(90.0);
22        servo3.set_angle(90.0);
23        servo4.set_angle(90.0);
24        servo5.set_angle(90.0);
25
26        println!(
27                "{}: angle {:.1}° → pulse {}",
28                servo0.name,
29                servo0.angle,
30                servo0.get_pulse()
31        );
32        println!(
33                "{}: angle {:.1}° → pulse {}",
34                servo1.name,
35                servo1.angle,
36                servo1.get_pulse()
37        );
38        println!(
39                "{}: angle {:.1}° → pulse {}",
40                servo2.name,
41                servo2.angle,
42                servo2.get_pulse()
43        );
44        println!(
45                "{}: angle {:.1}° → pulse {}",
46                servo3.name,
47                servo3.angle,
48                servo3.get_pulse()
49        );
50        println!(
51                "{}: angle {:.1}° → pulse {}",
52                servo4.name,
53                servo4.angle,
54                servo4.get_pulse()
55        );
56        println!(
57                "{}: angle {:.1}° → pulse {}",
58                servo5.name,
59                servo5.angle,
60                servo5.get_pulse()
61        );
62
63        // pulse -> angle convert test
64        servo0.set_pulse(350);
65        println!(
66                "{}: pulse {} → angle {:.1}°",
67                servo0.name,
68                servo0.get_pulse(),
69                servo0.angle
70        );
71        servo1.set_pulse(400);
72        println!(
73                "{}: pulse {} → angle {:.1}°",
74                servo1.name,
75                servo1.get_pulse(),
76                servo1.angle
77        );
78        servo2.set_pulse(450);
79        println!(
80                "{}: pulse {} → angle {:.1}°",
81                servo2.name,
82                servo2.get_pulse(),
83                servo2.angle
84        );
85        servo3.set_pulse(500);
86        println!(
87                "{}: pulse {} → angle {:.1}°",
88                servo3.name,
89                servo3.get_pulse(),
90                servo3.angle
91        );
92        servo4.set_pulse(550);
93        println!(
94                "{}: pulse {} → angle {:.1}°",
95                servo4.name,
96                servo4.get_pulse(),
97                servo4.angle
98        );
99        servo5.set_pulse(600);
100        println!(
101                "{}: pulse {} → angle {:.1}°",
102                servo5.name,
103                servo5.get_pulse(),
104                servo5.angle
105        );
106
107        println!("\n");
108        // increment / decrement
109        servo0.increment(10.0);
110        println!("{} incremented → {:.1}°", servo1.name, servo1.angle);
111
112        servo1.decrement(30.0);
113        println!("{} decremented → {:.1}°", servo1.name, servo1.angle);
114
115        servo2.increment(20.0);
116        println!("{} incremented → {:.1}°", servo2.name, servo2.angle);
117
118        servo3.decrement(40.0);
119        println!("{} decremented → {:.1}°", servo2.name, servo2.angle);
120
121        servo4.increment(20.0);
122        println!("{} incremented → {:.1}°", servo4.name, servo4.angle);
123        
124        servo5.decrement(15.0);
125        println!("{} decremented → {:.1}°", servo5.name, servo5.angle);
126
127        // ServoSystem Add channels
128        let mut system = ServoSystem::new();
129        system.add_channel(servo0);
130        system.add_channel(servo1);
131
132        println!("\n--- ServoSystem status ---");
133        for servo in &system.channels {
134                println!(
135                "Channel {} ({}): angle {:.1}° → pulse {}",
136                servo.id,
137                servo.name,
138                servo.angle,
139                servo.get_pulse()
140                );
141        }
142
143        // get_channel_mut 예제
144        if let Some(shoulder) = system.get_channel_mut(1) {
145                shoulder.set_angle(120.0);
146                println!(
147                "\nafter update {}: angle {:.1}° → pulse {}",
148                shoulder.name,
149                shoulder.angle,
150                shoulder.get_pulse()
151                );
152        }
153}

Trait Implementations§

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impl Clone for ServoSystem

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fn clone(&self) -> ServoSystem

Returns a duplicate of the value. Read more
1.0.0 · Source§

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

Performs copy-assignment from source. Read more
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impl Debug for ServoSystem

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

Formats the value using the given formatter. Read more
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impl<'de> Deserialize<'de> for ServoSystem

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fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>
where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more
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impl Serialize for ServoSystem

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

Serialize this value into the given Serde serializer. Read more

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where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
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