Struct MotorSystem 

pub struct MotorSystem { /* private fields */ }

A facade for managing multiple stepper motors from configuration.

MotorSystem provides a high-level API for:

• Creating motors from named configurations
• Accessing motors by name
• Managing trajectory registries

Example

use stepper_motion::motor::MotorSystem;

let config: SystemConfig = toml::from_str(CONFIG_TOML)?;
let mut system = MotorSystem::from_config(config);

// Register motors with their hardware pins
system.register_motor("x_axis", step_pin_x, dir_pin_x, delay_x)?;
system.register_motor("y_axis", step_pin_y, dir_pin_y, delay_y)?;

// Access motors by name
if let Some(motor) = system.motor("x_axis") {
    println!("X position: {}", motor.position_degrees().0);
}

Implementations

impl MotorSystem

pub fn from_config(config: SystemConfig) -> Self

Create a new motor system from configuration.

This initializes the trajectory registry but does not create any motors. Motors must be registered individually using register_motor() or created using build_motor().

pub fn config(&self) -> &SystemConfig

Get the system configuration.

pub fn trajectories(&self) -> &TrajectoryRegistry

Get the trajectory registry.

pub fn motor_config(&self, name: &str) -> Option<&MotorConfig>

Get a motor configuration by name.

Returns None if no motor with that name exists in the configuration.

pub fn constraints(&self, name: &str) -> Option<MechanicalConstraints>

Get mechanical constraints for a motor by name.

Returns None if no motor with that name exists.

pub fn has_motor(&self, name: &str) -> bool

Check if a motor name exists in the configuration.

pub fn motor_names(&self) -> impl Iterator<Item = &str>

List all configured motor names.

pub fn register_motor<STEP, DIR, DELAY>( &mut self, name: &str, step_pin: STEP, dir_pin: DIR, delay: DELAY, ) -> Result<StepperMotor<STEP, DIR, DELAY, Idle>>

where STEP: OutputPin, DIR: OutputPin, DELAY: DelayNs,

Register a motor as active in the system.

This marks the motor as registered and stores its constraints. The actual motor instance is returned to the caller.

Errors

Returns an error if the motor name doesn’t exist in the configuration.

pub fn build_motor<STEP, DIR, DELAY>( &self, name: &str, step_pin: STEP, dir_pin: DIR, delay: DELAY, ) -> Result<StepperMotor<STEP, DIR, DELAY, Idle>>

where STEP: OutputPin, DIR: OutputPin, DELAY: DelayNs,

Build a motor from configuration without registering it.

Use this when you need a motor but don’t need system-level tracking.

Errors

Returns an error if the motor name doesn’t exist or building fails.

pub fn is_registered(&self, name: &str) -> bool

Check if a motor has been registered.

pub fn registered_count(&self) -> usize

Get the number of registered motors.

pub fn registered_constraints( &self, name: &str, ) -> Option<&MechanicalConstraints>

Get constraints for a registered motor.

Returns None if the motor is not registered.

pub fn trajectory(&self, name: &str) -> Result<&TrajectoryConfig>

Get a trajectory by name, with error if not found.

This is a convenience method that delegates to the registry.

pub fn trajectories_for_motor<'a>( &'a self, motor_name: &'a str, ) -> impl Iterator<Item = &'a str> + 'a

Get all trajectory names for a specific motor.