Struct ServoCluster

pub struct ServoCluster<const NUM_SERVOS: usize, P, SM, Cal = NoCustom>
where
    P: PIOExt,
    SM: StateMachineIndex,
{ /* private fields */ }

A type to manage a cluster of servos all run from the same PIO state machine.

Implementations

impl<'a, const NUM_SERVOS: usize, P, SM, Cal, F> ServoCluster<NUM_SERVOS, P, SM, Cal>

where Cal: Default + CalibrationData + Clone, for<'i> <Cal as CalibrationData>::Iterator<'i>: Iterator<Item = (Point, Point)>, P: PIOExt<PinFunction = F>, F: Function, SM: StateMachineIndex,

pub fn builder<C1, C2, const NUM_CHANNELS: usize>( pio: &'a mut PIO<P>, sm: UninitStateMachine<(P, SM)>, dma_channels: (Channel<C1>, Channel<C2>), global_states: &'static mut GlobalStates<NUM_CHANNELS>, ) -> ServoClusterBuilder<'a, Cal, C1, C2, P, SM, F, NUM_SERVOS, NUM_CHANNELS>

where C1: ChannelIndex + 'static, C2: ChannelIndex + 'static,

Get a builder to help construct a ServoCluster.

pub fn servos(&self) -> [ServoIdx; NUM_SERVOS]

pub fn enabled(&self, servo: ServoIdx) -> bool

Return whether or not this ServoCluster is enabled.

pub fn set_enabled(&mut self, servo: ServoIdx, enable: bool, load: bool)

Control whether the ServoCluster is enabled or not. If load is true, immeditely update the servo pwm signal.

pub fn pulse(&self, servo: ServoIdx) -> Option<f32>

Get the pulse for a particular servo.

pub fn set_pulse(&mut self, servo: ServoIdx, pulse: f32, load: bool)

Set the pulse for a particular servo. If load is true, immeditely update the servo pwm signal.

pub fn value(&self, servo: ServoIdx) -> f32

Get the value for a particular servo.

pub fn set_value(&mut self, servo: ServoIdx, value: f32, load: bool)

Set the value for a particular servo. If load is true, immeditely update the servo pwm signal.

pub fn phase(&self, servo: ServoIdx) -> f32

Get the phase for a particular servo.

pub fn set_phase(&mut self, servo: ServoIdx, phase: f32, load: bool)

Set the phase for a particular servo. If load is true, immeditely update the servo pwm signal.

pub fn frequency(&self) -> f32

Get the pwm frequency being used for this ServoCluster.

pub fn set_frequency(&mut self, system_clock_hz: HertzU32, frequency: f32)

Set the pwm frequency being used for this ServoCluster.

pub fn min_value(&self, servo: ServoIdx) -> f32

Get the min value for a particular servo.

pub fn mid_value(&self, servo: ServoIdx) -> f32

Get the mid value for a particular servo.

pub fn max_value(&self, servo: ServoIdx) -> f32

Get the max value for a particular servo.

pub fn to_min(&mut self, servo: ServoIdx, load: bool)

Set the min value for a particular servo. If load is true, immediately update the servo pwm signal.

pub fn to_mid(&mut self, servo: ServoIdx, load: bool)

Set the mid value for a particular servo. If load is true, immediately update the servo pwm signal.

pub fn to_max(&mut self, servo: ServoIdx, load: bool)

Set the max value for a particular servo. If load is true, immediately update the servo pwm signal.

pub fn to_percent(&mut self, servo: ServoIdx, percent: f32, load: bool)

Set a particular servo to a percentage of its range. 0% maps to the servo’s minimum value, 100% maps to the servo’s maximum value.

pub fn calibration(&self, servo: ServoIdx) -> &Calibration<Cal>

Get a shared reference to a particular servo’s calibration.

pub fn calibration_mut(&mut self, servo: ServoIdx) -> &mut Calibration<Cal>

Get a unique reference to a particular servo’s calibration.

pub fn load(&mut self)

Immediately update the pwm state for all servos.