Struct ActuonixLinear 

pub struct ActuonixLinear<const CS_P: char, const CS_N: u8, const SLP_P: char, const SLP_N: u8, const DIS_P: char, const DIS_N: u8, Pwm1, Pwm2, ReadPos> { /* private fields */ }

Generic driver for Actuonix linear actuators (P16, T16).

ReadPos is a closure that returns the raw 12-bit ADC reading (0..4095).

Implementations

impl<const CS_P: char, const CS_N: u8, const SLP_P: char, const SLP_N: u8, const DIS_P: char, const DIS_N: u8, Pwm1, Pwm2, ReadPos> ActuonixLinear<CS_P, CS_N, SLP_P, SLP_N, DIS_P, DIS_N, Pwm1, Pwm2, ReadPos>

where Pwm1: _embedded_hal_PwmPin<Duty = u16>, Pwm2: _embedded_hal_PwmPin<Duty = u16>, ReadPos: FnMut() -> u16,

pub fn new<SlpMode, DisMode>( drv: Drv8873<CS_P, CS_N>, pwm1: Pwm1, pwm2: Pwm2, nsleep: Pin<SLP_P, SLP_N, SlpMode>, disable: Pin<DIS_P, DIS_N, DisMode>, read_position: ReadPos, stroke_len_mm: f32, buffer_bottom_mm: f32, buffer_top_mm: f32, ) -> Self

Construct a new Actuonix driver with Hardware PWM.

pub fn set_speed(&mut self, speed: f32)

Set the motor speed and direction.

speed - A float from -1.0 (Full Retract) to 1.0 (Full Extend).

pub fn enforce_limits(&mut self)

Continuously check the ADC position and brake if the actuator exceeds the software limits. This should be called regularly in the main application loop.

pub fn extend(&mut self)

Extend the actuator at full speed.

pub fn retract(&mut self)

Retract the actuator at full speed.

pub fn brake(&mut self)

Brake (stops quickly by shorting motor terminals).

pub fn is_limit_braking(&self) -> bool

True when we are currently braking due to software limit enforcement.

pub fn position_raw(&mut self) -> u16

Read raw 12-bit ADC value (0-4095) with hardware oversampling and a median filter.

pub fn position_percent(&mut self) -> f32

Read position as a fraction (0.0 = Retracted, 1.0 = Extended).

pub fn position_mm(&mut self) -> f32

Read position in millimeters.

pub fn stroke_len_mm(&self) -> f32

Get the max stroke length.

pub fn drv(&mut self) -> &mut Drv8873<CS_P, CS_N>

Access the inner DRV8873 for fault reading.

pub fn sleep(&mut self)

Put the driver into sleep mode.

This shuts down most of the internal circuitry to reduce power consumption.

pub fn wake(&mut self)

Wake the driver from sleep mode.

pub fn enable_outputs(&mut self)

Enable the motor and wake the driver if in sleep.

pub fn disable_outputs(&mut self)

Disable the motor and brake.

pub fn read_fault<I, PINS>( &mut self, spi_bus: &mut SpiBus<I, PINS>, ) -> Result<Fault, Error>

where I: Instance, PINS: Pins<I>,

Read the FAULT status register from the DRV8873.