Struct TrajectoryBuilder 

pub struct TrajectoryBuilder { /* private fields */ }

Builder for creating single-target trajectories.

Implementations

impl TrajectoryBuilder

pub fn new() -> Self

Create a new trajectory builder.

pub fn motor(self, name: &str) -> Self

Set the target motor name.

pub fn target(self, position: Degrees) -> Self

Set the target position in degrees.

pub fn velocity_percent(self, percent: u8) -> Self

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

pub fn acceleration_percent(self, percent: u8) -> Self

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

pub fn acceleration(self, accel: DegreesPerSecSquared) -> Self

Set absolute acceleration rate in degrees/sec².

pub fn deceleration(self, decel: DegreesPerSecSquared) -> Self

Set absolute deceleration rate in degrees/sec².

pub fn asymmetric( self, accel: DegreesPerSecSquared, decel: DegreesPerSecSquared, ) -> Self

Set asymmetric acceleration/deceleration rates.

pub fn dwell(self, dwell_ms: u32) -> Self

Set dwell time at target in milliseconds.

pub fn build(self) -> Result<TrajectoryConfig>

Build the trajectory configuration.

Errors

Returns an error if required fields are missing.

Trait Implementations

impl Clone for TrajectoryBuilder

fn clone(&self) -> TrajectoryBuilder

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for TrajectoryBuilder

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

Formats the value using the given formatter.

impl Default for TrajectoryBuilder

fn default() -> Self

Returns the “default value” for a type.