Struct LiftMotor 

pub struct LiftMotor<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 */ }

Lift motor abstraction layered on top of a SpiMotor.

Geometry parameters:

• mm_per_rev: mechanical displacement per output shaft revolution
• counts_per_rev: inherited automatically from underlying motor

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> LiftMotor<CS_P, CS_N, IN1_P, IN1_N, IN2_P, IN2_N, SLP_P, SLP_N, DIS_P, DIS_N>

pub fn new( motor: Fit0185<CS_P, CS_N, IN1_P, IN1_N, IN2_P, IN2_N, SLP_P, SLP_N, DIS_P, DIS_N>, mm_per_rev: f32, ) -> Self

Create a new LiftMotor wrapper.

mm_per_rev — how many millimeters the actuator moves per full revolution.

pub fn height_mm(&self) -> f32

Convert encoder ticks to millimeters of extension.

pub fn target_ticks_for_height(&self, mm: f32) -> i32

Compute the target tick position for an absolute height command.

pub fn delta_ticks_for_height(&self, delta_mm: f32) -> i32

Compute a relative tick movement for a delta height.

pub fn move_by_mm(&mut self, delta_mm: f32) -> i32

Move by a relative number of millimeters.

pub fn move_by_revs(&mut self, revs: f32) -> i32

Move by a relative number of revolutions.

pub fn go_to_height_mm(&mut self, mm: f32) -> i32

Command the lift to go to a specific height (mm), returning a tick target.

pub fn zero(&mut self)

Reset encoder reference (zero height).

pub fn inner_motor( &mut self, ) -> &mut Fit0185<CS_P, CS_N, IN1_P, IN1_N, IN2_P, IN2_N, SLP_P, SLP_N, DIS_P, DIS_N>

Expose the underlying SpiMotor.

pub fn apply_pid_output(&mut self, u: f32)

Apply PID output to the underlying motor.