Struct MotionProfile 

pub struct MotionProfile {
    pub total_steps: u32,
    pub direction: Direction,
    pub accel_steps: u32,
    pub cruise_steps: u32,
    pub decel_steps: u32,
    pub initial_interval_ns: u32,
    pub cruise_interval_ns: u32,
    pub accel_rate: f32,
    pub decel_rate: f32,
}

Computed motion profile for a move (asymmetric trapezoidal).

Fields

total_steps: u32

Total steps to move (absolute value).

direction: Direction

Direction of motion.

accel_steps: u32

Steps in acceleration phase.

cruise_steps: u32

Steps in cruise phase (constant velocity).

decel_steps: u32

Steps in deceleration phase.

initial_interval_ns: u32

Initial step interval (nanoseconds) - at start of acceleration.

cruise_interval_ns: u32

Cruise step interval (nanoseconds) - at max velocity.

accel_rate: f32

Acceleration rate in steps/sec².

decel_rate: f32

Deceleration rate in steps/sec².

Implementations

impl MotionProfile

pub fn asymmetric_trapezoidal( total_steps: i64, max_velocity: f32, acceleration: f32, deceleration: f32, ) -> Self

Create an asymmetric trapezoidal motion profile.

Arguments

• total_steps - Signed step count (positive = CW, negative = CCW)
• max_velocity - Maximum velocity in steps/sec
• acceleration - Acceleration rate in steps/sec²
• deceleration - Deceleration rate in steps/sec²

pub fn symmetric_trapezoidal( total_steps: i64, max_velocity: f32, acceleration: f32, ) -> Self

Create a symmetric trapezoidal profile (same accel and decel).

pub fn zero() -> Self

Create a zero-length profile (no motion).

pub fn is_zero(&self) -> bool

Check if this is a zero-length profile.

pub fn phase_at(&self, step: u32) -> MotionPhase

Get the phase at a given step number.

pub fn interval_at(&self, step: u32) -> u32

Calculate step interval for a given step number.

Uses the step timing formula for trapezoidal acceleration.

pub fn estimated_duration_secs(&self) -> f32

Estimate total duration of the motion profile in seconds.

This is an approximation based on the trapezoidal profile phases.

Trait Implementations

impl Clone for MotionProfile

fn clone(&self) -> MotionProfile

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for MotionProfile

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

Formats the value using the given formatter.