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MotorDrive

symtropy_physics::joints

Struct MotorDrive 

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pub struct MotorDrive {
    pub target_pos: f64,
    pub target_vel: f64,
    pub kp: f64,
    pub kd: f64,
    pub max_force: f64,
}
Expand description

Motor drive for actuated joints (hinge + prismatic).

Uses a PD (Proportional-Derivative) controller to reach a target: force = kp * (target - current_pos) + kd * (target_vel - current_vel)

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§target_pos: f64

Target position (units) or angle (radians).

§target_vel: f64

Target velocity.

§kp: f64

Proportional gain (stiffness).

§kd: f64

Derivative gain (damping).

§max_force: f64

Maximum force/torque the motor can apply.

Implementations§

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impl MotorDrive

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pub fn new(target_pos: f64, max_force: f64) -> Self

Create a motor with default gains.

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pub fn with_gains(self, kp: f64, kd: f64) -> Self

Set PD gains.

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pub fn calculate_impulse( &self, current_pos: f64, current_vel: f64, dt: f64, ) -> f64

Calculate motor impulse.

Trait Implementations§

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impl Clone for MotorDrive

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fn clone(&self) -> MotorDrive

Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§

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

Performs copy-assignment from source. Read more
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impl Debug for MotorDrive

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

Formats the value using the given formatter. Read more

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impl<T> Any for T
where T: 'static + ?Sized,

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fn borrow(&self) -> &T

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impl<T> BorrowMut<T> for T
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fn borrow_mut(&mut self) -> &mut T

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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
Performs copy-assignment from self to dest. Read more
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impl<T> From<T> for T

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fn from(t: T) -> T

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fn into(self) -> U

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type Output = T

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Performs the conversion.
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