Struct ServoClusterBuilder

pub struct ServoClusterBuilder<'a, Cal, C1, C2, P, SM, F, const NUM_SERVOS: usize, const NUM_CHANNELS: usize>
where
    C1: ChannelIndex + 'static,
    C2: ChannelIndex + 'static,
    P: PIOExt<PinFunction = F> + 'static,
    F: Function,
    SM: StateMachineIndex + 'static,
{ /* private fields */ }

A builder for ServoCluster.

Implementations

impl<'a, Cal, C1, C2, P, SM, F, const NUM_SERVOS: usize, const NUM_CHANNELS: usize> ServoClusterBuilder<'a, Cal, C1, C2, P, SM, F, NUM_SERVOS, NUM_CHANNELS>

where Cal: CalibrationData + Default + Clone, for<'i> <Cal as CalibrationData>::Iterator<'i>: Iterator<Item = (Point, Point)>, C1: ChannelIndex, C2: ChannelIndex, P: PIOExt<PinFunction = F>, F: Function, SM: StateMachineIndex,

pub fn calibrations(self, calibrations: [Calibration<Cal>; NUM_SERVOS]) -> Self

Set the calibration for each servos.

pub fn auto_phase(self, auto_phase: bool) -> Self

Configure whether or not to enable phase shifts for the servos.

pub fn pins_and_calibration( self, pin_data: [ServoData<Cal, F>; NUM_SERVOS], ) -> Self

Set the output pins to correspond to the servos. Note that the order they are passed in here will map how the servos are accessed in ServoCluster when specifying the servo index.

pub fn pwm_frequency(self, pwm_frequency: f32) -> Self

Set the frequency for the pwm signal for the cluster.

pub fn build( self, system_clock: &SystemClock, maybe_global_state: &'static mut Option<GlobalState<C1, C2, P, SM>>, ) -> Result<ServoCluster<NUM_SERVOS, P, SM, Cal>, ServoClusterBuilderError>

Build the ServoCluster. Note that the global state passed in here should not have been used to initialize another ServoCluster. If so, this function will return an error.