Struct StepperMotorBuilder 

pub struct StepperMotorBuilder<STEP, DIR, DELAY>
where
    STEP: OutputPin,
    DIR: OutputPin,
    DELAY: DelayNs,
{ /* private fields */ }

Builder for creating StepperMotor instances.

Implementations

impl<STEP, DIR, DELAY> StepperMotorBuilder<STEP, DIR, DELAY>

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

pub fn new() -> Self

Create a new builder.

pub fn step_pin(self, pin: STEP) -> Self

Set the STEP pin.

pub fn dir_pin(self, pin: DIR) -> Self

Set the DIR pin.

pub fn delay(self, delay: DELAY) -> Self

Set the delay provider.

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

Set the motor name.

pub fn steps_per_revolution(self, steps: u16) -> Self

Set steps per revolution (base motor steps before microstepping).

pub fn microsteps(self, microsteps: Microsteps) -> Self

Set microstep configuration.

pub fn gear_ratio(self, ratio: f32) -> Self

Set gear ratio.

pub fn max_velocity(self, velocity: DegreesPerSec) -> Self

Set maximum velocity in degrees per second.

pub fn max_acceleration(self, acceleration: DegreesPerSecSquared) -> Self

Set maximum acceleration in degrees per second squared.

pub fn invert_direction(self, invert: bool) -> Self

Set direction inversion.

pub fn backlash_steps(self, steps: i64) -> Self

Set backlash compensation in steps.

Backlash is applied on direction changes to compensate for mechanical play.

pub fn from_motor_config(self, config: &MotorConfig) -> Self

Configure from a MotorConfig.

pub fn from_config( self, config: &SystemConfig, motor_name: &str, ) -> Result<Self>

Configure from SystemConfig by motor name.

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

Build the StepperMotor.

Errors

Returns an error if required fields are missing.

Trait Implementations

impl<STEP, DIR, DELAY> Default for StepperMotorBuilder<STEP, DIR, DELAY>

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

fn default() -> Self

Returns the “default value” for a type.