Struct MotionExecutor 

pub struct MotionExecutor { /* private fields */ }

Runtime state during motion execution.

Implementations

impl MotionExecutor

pub fn new(profile: MotionProfile) -> Self

Create a new executor for a motion profile.

pub fn is_complete(&self) -> bool

Check if motion is complete.

pub fn current_step(&self) -> u32

Get the current step number.

pub fn total_steps(&self) -> u32

Get the total number of steps.

pub fn steps_remaining(&self) -> u32

Get steps remaining.

pub fn phase(&self) -> MotionPhase

Get the current phase.

pub fn current_interval_ns(&self) -> u32

Get the current step interval in nanoseconds.

pub fn profile(&self) -> &MotionProfile

Get the motion profile.

pub fn advance(&mut self) -> bool

Advance to the next step.

Returns true if a step should be executed, false if complete.

pub fn reset(&mut self)

Reset the executor to the beginning.

pub fn progress(&self) -> f32

Get progress as a percentage (0.0 to 1.0).

Trait Implementations

impl Clone for MotionExecutor

fn clone(&self) -> MotionExecutor

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for MotionExecutor

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

Formats the value using the given formatter.