Struct LiftController 

pub struct LiftController<const CS_P: char, const CS_N: u8, const IN1_P: char, const IN1_N: u8, const IN2_P: char, const IN2_N: u8, const SLP_P: char, const SLP_N: u8, const DIS_P: char, const DIS_N: u8> { /* private fields */ }

Controller state and configuration.

Implementations

impl<const CS_P: char, const CS_N: u8, const IN1_P: char, const IN1_N: u8, const IN2_P: char, const IN2_N: u8, const SLP_P: char, const SLP_N: u8, const DIS_P: char, const DIS_N: u8> LiftController<CS_P, CS_N, IN1_P, IN1_N, IN2_P, IN2_N, SLP_P, SLP_N, DIS_P, DIS_N>

pub fn new( motor: LiftMotor<CS_P, CS_N, IN1_P, IN1_N, IN2_P, IN2_N, SLP_P, SLP_N, DIS_P, DIS_N>, pid: Pid, min_height_mm: f32, max_height_mm: f32, on_target_tolerance_mm: f32, ) -> Self

Create a new lift controller with PID gains and limits.

pub fn set_target_height_mm(&mut self, mm: f32)

Set a new target height (mm), automatically clamped to limits.

pub fn disable(&mut self)

Directly disable the lift (coast).

pub fn enable(&mut self)

Re-enable position control.

pub fn height_mm(&self) -> f32

Current measured height (mm).

pub fn on_target(&self) -> bool

Returns true if the lift is within tolerance of its commanded height.

pub fn step(&mut self, dt: f32)

Run one control step.

dt — time delta in seconds since the previous call, e.g. 0.01 for 10ms.

pub fn motor( &self, ) -> &LiftMotor<CS_P, CS_N, IN1_P, IN1_N, IN2_P, IN2_N, SLP_P, SLP_N, DIS_P, DIS_N>

Expose the underlying LiftMotor.

pub fn motor_mut( &mut self, ) -> &mut LiftMotor<CS_P, CS_N, IN1_P, IN1_N, IN2_P, IN2_N, SLP_P, SLP_N, DIS_P, DIS_N>

Mutable access to the underlying LiftMotor.