Struct StepperMotor 

pub struct StepperMotor<STEP, DIR, DELAY, STATE = Idle>
where
    STEP: OutputPin,
    DIR: OutputPin,
    DELAY: DelayNs,
    STATE: MotorState,
{ /* private fields */ }

Stepper motor driver with type-state safety.

Generic over:

• STEP: STEP pin type (must implement OutputPin)
• DIR: DIR pin type (must implement OutputPin)
• DELAY: Delay provider (must implement DelayNs)
• STATE: Type-state marker (defaults to Idle)

Implementations

impl<STEP, DIR, DELAY, STATE> StepperMotor<STEP, DIR, DELAY, STATE>

where STEP: OutputPin, DIR: OutputPin, DELAY: DelayNs, STATE: MotorState + StateName,

pub fn name(&self) -> &str

Get the motor name.

pub fn position_steps(&self) -> Steps

Get current position in steps.

pub fn position_degrees(&self) -> Degrees

Get current position in degrees.

pub fn constraints(&self) -> &MechanicalConstraints

Get the mechanical constraints.

pub fn state_name(&self) -> &'static str

Get the current state name.

impl<STEP, DIR, DELAY> StepperMotor<STEP, DIR, DELAY, Idle>

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

pub fn move_to( self, target: Degrees, ) -> Result<StepperMotor<STEP, DIR, DELAY, Moving>, (Self, Error)>

Start a move to an absolute position in degrees.

Returns a motor in the Moving state.

pub fn move_by( self, delta: Degrees, ) -> Result<StepperMotor<STEP, DIR, DELAY, Moving>, (Self, Error)>

Move by a relative amount in degrees.

pub fn set_origin(&mut self)

Set the current position as the origin (zero).

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

Set the current position to a specific value.

pub fn execute( self, trajectory_name: &str, registry: &TrajectoryRegistry, ) -> Result<Self, (Self, Error)>

Execute a named trajectory from a registry.

This method looks up the trajectory by name, validates it against the motor’s constraints, and executes it to completion.

Arguments

• trajectory_name - Name of the trajectory in the registry
• registry - The trajectory registry to look up the trajectory

Returns

Returns Ok(self) with the motor back in Idle state after the move completes.

Errors

Returns an error if:

• The trajectory is not found in the registry
• The trajectory’s target motor doesn’t match this motor’s name
• The move fails due to limits or hardware errors

pub fn move_to_blocking(self, target: Degrees) -> Result<Self, (Self, Error)>

Move to an absolute position and run to completion (blocking).

This is a convenience method that combines move_to and run_to_completion.

impl<STEP, DIR, DELAY> StepperMotor<STEP, DIR, DELAY, Moving>

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

pub fn step(&mut self) -> Result<bool>

Execute one step pulse.

Returns true if the move is complete.

pub fn is_complete(&self) -> bool

Check if the move is complete.

pub fn progress(&self) -> f32

Get move progress (0.0 to 1.0).

pub fn phase(&self) -> MotionPhase

Get current motion phase.

pub fn finish(self) -> StepperMotor<STEP, DIR, DELAY, Idle>

Complete the move and return to Idle state.

This should be called after is_complete() returns true or to abandon a move in progress.

pub fn run_to_completion(self) -> Result<StepperMotor<STEP, DIR, DELAY, Idle>>

Run the move to completion (blocking).