Struct ServoState

pub struct ServoState<C> { /* private fields */ }

Type to manage state for a single servo.

Implementations

impl<C> ServoState<C>

where C: Default + Clone + CalibrationData,

pub fn new() -> Option<Self>

Constructs a new ServoState if the calibration type has 2 or more calibration points.

impl<C> ServoState<C>

where C: CalibrationData, for<'a> <C as CalibrationData>::Iterator<'a>: Iterator<Item = (Point, Point)>,

pub fn with_calibration(calibration: Calibration<C>) -> Self

Construct a ServoState based on some Calibration.

pub fn enable_with_return(&mut self) -> f32

Enable the servo and return its pulse.

pub fn set_value_with_return(&mut self, value: f32) -> f32

Set the value and return the pulse.

pub fn disable(&mut self)

Disable the servo.

pub fn enabled(&self) -> bool

Return whether the servo is enabled.

pub fn pulse_to_level(pulse: f32, resolution: u32, frequency: f32) -> u32

Convert the pulse, given a resolution and frequency, into a level for use by pwm signals.

pub fn pulse(&self) -> Option<f32>

Get the pulse if available.

pub fn set_pulse_with_return(&mut self, pulse: f32) -> Option<f32>

Set the pulse and return the new pulse value. Can return None when pulse is not larger than the minimum valid pulse.

pub fn value(&self) -> f32

Get the current value of the servo.

pub fn to_min_with_return(&mut self) -> f32

Move the servo to the minimum value and return the pulse.

pub fn to_mid_with_return(&mut self) -> f32

Move the servo to the mid-point value and return the pulse.

pub fn to_max_with_return(&mut self) -> f32

Move the servo to the maximum value and return the pulse.

pub fn to_percent_with_return(&mut self, percent: f32) -> f32

Move the servo to a percentage of its movement range.

0% corresponds to the servo’s minimum value, and 100% corresponds to the servo’s maximum value.

pub fn calibration(&self) -> &Calibration<C>

Get a shared reference of the servo’s calibration.

pub fn calibration_mut(&mut self) -> &mut Calibration<C>

Get a unique reference to the servos’ calibration.