Struct MechanicalConstraints 

pub struct MechanicalConstraints {
    pub steps_per_revolution: u32,
    pub steps_per_degree: f32,
    pub max_velocity_steps_per_sec: f32,
    pub max_acceleration_steps_per_sec2: f32,
    pub min_step_interval_ns: u32,
    pub limits: Option<StepLimits>,
    pub max_velocity: DegreesPerSec,
    pub max_acceleration: DegreesPerSecSquared,
}

Derived mechanical parameters computed from motor configuration.

These are computed once at initialization and used for all motion planning.

Fields

steps_per_revolution: u32

Total steps per output revolution (steps × microsteps × gear_ratio).

steps_per_degree: f32

Steps per degree of output rotation.

max_velocity_steps_per_sec: f32

Maximum velocity in steps per second.

max_acceleration_steps_per_sec2: f32

Maximum acceleration in steps per second squared.

min_step_interval_ns: u32

Minimum step interval in nanoseconds (at max velocity).

limits: Option<StepLimits>

Soft limits in steps (if configured).

max_velocity: DegreesPerSec

Maximum velocity in degrees per second.

max_acceleration: DegreesPerSecSquared

Maximum acceleration in degrees per second squared.

Implementations

impl MechanicalConstraints

pub fn from_config(config: &MotorConfig) -> Self

Compute mechanical constraints from motor configuration.

pub fn degrees_to_steps(&self, degrees: f32) -> i64

Convert degrees to steps.

pub fn steps_to_degrees(&self, steps: i64) -> f32

Convert steps to degrees.

pub fn velocity_to_steps(&self, deg_per_sec: f32) -> f32

Convert deg/sec to steps/sec.

pub fn acceleration_to_steps(&self, deg_per_sec2: f32) -> f32

Convert deg/sec² to steps/sec².

pub fn velocity_to_interval_ns(&self, velocity_steps_per_sec: f32) -> u32

Calculate step interval for a given velocity in steps/sec.

pub fn check_limits(&self, steps: i64) -> Option<i64>

Check if a position is within soft limits.

Trait Implementations

impl Clone for MechanicalConstraints

fn clone(&self) -> MechanicalConstraints

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for MechanicalConstraints

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

Formats the value using the given formatter.