Struct MoveToFuture

pub struct MoveToFuture<Driver: MotionControl> { /* private fields */ }

The “future” returned by Stepper::move_to_position

Please note that this type provides a custom API and does not implement core::future::Future. This might change, when using futures for embedded development becomes more practical.

Implementations

impl<Driver> MoveToFuture<Driver>

where Driver: MotionControl,

pub fn new( driver: Driver, max_velocity: Driver::Velocity, target_step: i32, ) -> Self

Create new instance of MoveToFuture

This constructor is public to provide maximum flexibility for non-standard use cases. Most users can ignore this and just use Stepper::move_to_position instead.

pub fn poll(&mut self) -> Poll<Result<(), Driver::Error>>

Poll the future

The future must be polled for the operation to make progress. The operation won’t start, until this method has been called once. Returns Poll::Pending, if the operation is not finished yet, or Poll::Ready, once it is.

If this method returns Poll::Pending, the user can opt to keep calling it at a high frequency (see Self::wait) until the operation completes, or set up an interrupt that fires once the timer finishes counting down, and call this method again once it does.

pub fn wait(&mut self) -> Result<(), Driver::Error>

Wait until the operation completes

This method will call Self::poll in a busy loop until the operation has finished.

pub fn release(self) -> Driver

Drop the future and release the resources that were moved into it