Struct TrajectoryConfig 

pub struct TrajectoryConfig {
    pub motor: String<32>,
    pub target_degrees: Degrees,
    pub velocity_percent: u8,
    pub acceleration_percent: u8,
    pub acceleration: Option<DegreesPerSecSquared>,
    pub deceleration: Option<DegreesPerSecSquared>,
    pub dwell_ms: Option<u32>,
}

A named trajectory from configuration.

Fields

motor: String<32>

Target motor name (must match a motor in config).

target_degrees: Degrees

Target position in degrees (absolute from origin).

velocity_percent: u8

Velocity as percentage of motor’s max (1-200).

acceleration_percent: u8

Acceleration as percentage of motor’s max (1-200). Used when absolute rates are not specified.

acceleration: Option<DegreesPerSecSquared>

Absolute acceleration rate in degrees/sec² (optional). Overrides acceleration_percent for the acceleration phase.

deceleration: Option<DegreesPerSecSquared>

Absolute deceleration rate in degrees/sec² (optional). If not set, uses acceleration value (symmetric profile).

dwell_ms: Option<u32>

Optional dwell time at target (milliseconds).

Implementations

impl TrajectoryConfig

pub fn effective_acceleration(&self, constraints: &MechanicalConstraints) -> f32

Get effective acceleration rate for this trajectory.

pub fn effective_deceleration(&self, constraints: &MechanicalConstraints) -> f32

Get effective deceleration rate for this trajectory. Falls back to acceleration if not specified (symmetric profile).

pub fn effective_velocity(&self, constraints: &MechanicalConstraints) -> f32

Get effective velocity for this trajectory.

pub fn is_asymmetric(&self) -> bool

Check if this trajectory uses asymmetric acceleration.

pub fn check_feasibility( &self, constraints: &MechanicalConstraints, ) -> Result<()>

Check if this trajectory is feasible given the motor constraints.

Returns Ok(()) if the trajectory can be executed, or an error describing why it cannot.

Checks performed:

• Velocity percent is valid (1-200)
• Acceleration percent is valid (1-200)
• Target position is within soft limits (if configured)
• Effective velocity doesn’t exceed motor max
• Effective acceleration doesn’t exceed motor max

Trait Implementations

impl Clone for TrajectoryConfig

fn clone(&self) -> TrajectoryConfig

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for TrajectoryConfig

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for TrajectoryConfig

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.