Module peripherals

Peripherals implementations.

Peripherals are the best way to create devices because they allow you to do it safely. Both kinds of peripherals, Peripherals and DynamicPeripherals, guarantee that a given port is only used to create one device. This is important because creating multiple devices on the same port can cause bugs and unexpected behavior. Devices can still be created unsafely without using peripherals, but it isn’t recommended.

Examples

Using Peripherals

let mut peripherals = Peripherals::take().unwrap();
let motor = Motor::new(peripherals.port_1);
let adi_digital_in = AdiDigitalIn::new(peripherals.adi_d);

Using DynamicPeripherals

let mut peripherals = DynamicPeripherals::new(Peripherals::take().unwrap());
let motor = peripherals.take_smart_port(1).unwrap();
let adi_digital_in = peripherals.take_adi_port(4).unwrap();

Structs

• DynamicPeripherals
  Guarantees that ports are only used once at runtime This is useful for when you want to store a peripherals struct for use in multiple functions. When possible, use Peripherals instead.
• Peripherals
  Contains an instance of a brain’s available I/O, including ports, hardware, and devices.