Struct syact::act::Gear

pub struct Gear<C: SyncActuator> {
    pub ctrl: C,
    pub ratio: f32,
}

A gear component

Gears

Fields

ctrl: C

Steppercontrol for the motor of the bearing

ratio: f32

Angle ration from motor to bearing (velocity_b / velocity_m)

Implementations

impl<C: SyncActuator> Gear<C>

pub fn new(ctrl: C, ratio: f32) -> Self

Creates a new Gearbearing

• device: The parent component driving the cylinder

Trait Implementations

impl<C: SyncActuator> ActuatorParent for Gear<C>

type Child = C

fn child(&self) -> &Self::Child

fn child_mut(&mut self) -> &mut Self::Child

impl<C: Debug + SyncActuator> Debug for Gear<C>

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

Formats the value using the given formatter.

impl<'de, C> Deserialize<'de> for Gear<C>

where C: Deserialize<'de> + SyncActuator,

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<C: SyncActuator> RatioActuatorParent for Gear<C>

fn ratio(&self) -> f32

The linear ratio that defines the relation between the child and the parent component

fn gamma_for_child(&self, parent_gamma: Gamma) -> Gamma

fn gamma_for_parent(&self, child_gamma: Gamma) -> Gamma

fn delta_for_chlid(&self, parent_delta: Delta) -> Delta

fn delta_for_parent(&self, child_delta: Delta) -> Delta

fn velocity_for_child(&self, parent_velocity: Velocity) -> Velocity

fn velocity_for_parent(&self, child_velocity: Velocity) -> Velocity

fn alpha_for_child(&self, parent_alpha: Acceleration) -> Acceleration

fn alpha_for_parent(&self, child_alpha: Acceleration) -> Acceleration

fn force_for_child(&self, parent_force: Force) -> Force

fn force_for_parent(&self, child_force: Force) -> Force

fn inertia_for_child(&self, parent_inertia: Inertia) -> Inertia

fn inertia_for_parent(&self, child_intertia: Inertia) -> Inertia

impl<C> Serialize for Gear<C>

where C: Serialize + SyncActuator,

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl<C: SyncActuator> Setup for Gear<C>

fn setup(&mut self) -> Result<(), Error>

Calls all required functions to assure the components functionality

fn setup_inline(self) -> Result<Self, Error>

where Self: Sized,

Points to `setup``, helper function