Struct MotorConfig 

pub struct MotorConfig {
    pub name: String<32>,
    pub steps_per_revolution: u16,
    pub microsteps: Microsteps,
    pub gear_ratio: f32,
    pub max_velocity: DegreesPerSec,
    pub max_acceleration: DegreesPerSecSquared,
    pub invert_direction: bool,
    pub limits: Option<SoftLimits>,
    pub backlash_compensation: Option<Degrees>,
}

Complete motor configuration from TOML.

Fields

name: String<32>

Human-readable name (max 32 chars).

steps_per_revolution: u16

Base steps per revolution (typically 200 for 1.8° motors).

microsteps: Microsteps

Microstep setting (1, 2, 4, 8, 16, 32, etc.).

gear_ratio: f32

Gear ratio (output:input, e.g., 5.0 means 5:1 reduction).

max_velocity: DegreesPerSec

Maximum angular velocity in degrees per second.

max_acceleration: DegreesPerSecSquared

Maximum angular acceleration in degrees per second squared.

invert_direction: bool

Invert direction pin logic.

limits: Option<SoftLimits>

Optional soft limits.

backlash_compensation: Option<Degrees>

Optional backlash compensation in degrees.

Implementations

impl MotorConfig

pub fn total_steps_per_revolution(&self) -> u32

Calculate total steps per output shaft revolution.

pub fn steps_per_degree(&self) -> f32

Calculate steps per degree of output rotation.

Trait Implementations

impl Clone for MotorConfig

fn clone(&self) -> MotorConfig

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for MotorConfig

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for MotorConfig

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.