Struct Position 

pub struct Position { /* private fields */ }

Motor position tracker.

Maintains absolute position in steps and provides unit conversions.

Implementations

impl Position

pub fn new(steps_per_degree: f32) -> Self

Create a new position tracker.

pub fn at(steps: Steps, steps_per_degree: f32) -> Self

Create a position tracker at a specific position.

pub fn steps(&self) -> Steps

Get current position in steps.

pub fn degrees(&self) -> Degrees

Get current position in degrees.

pub fn set_steps(&mut self, steps: Steps)

Set position in steps.

pub fn set_degrees(&mut self, degrees: Degrees)

Set position in degrees.

pub fn move_steps(&mut self, delta: i64)

Move by a number of steps.

pub fn move_degrees(&mut self, delta: Degrees)

Move by an amount in degrees.

pub fn reset(&mut self)

Reset position to origin (0 steps).

pub fn set_origin(&mut self)

Set current position as the new origin.

pub fn steps_per_degree(&self) -> f32

Get steps per degree conversion factor.

pub fn steps_to(&self, target: Degrees) -> i64

Calculate steps needed to reach a target position in degrees.

Trait Implementations

impl Clone for Position

fn clone(&self) -> Position

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Position

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

Formats the value using the given formatter.

impl Default for Position

fn default() -> Position

Returns the “default value” for a type.

impl Copy for Position