Struct TiltMotor 

pub struct TiltMotor<const DEV_ADDR: u16> { /* private fields */ }

High-level tilt motor wrapped around a CanMotor.

Geometry parameters:

• gear_ratio — number of motor revolutions per tile revolution.

Implementations

impl<const DEV_ADDR: u16> TiltMotor<DEV_ADDR>

pub fn new(motor: Gim6010<DEV_ADDR>, gear_ratio: f32) -> Self

Create a new TiltMotor from an underlying CanMotor and a gear ratio.

pub fn inner_motor(&mut self) -> &mut Gim6010<DEV_ADDR>

Access the underlying CanMotor.

pub fn shaft_angle_rad_from_raw(&self, raw: u16) -> f32

Convert a raw encoder value [0..65535] into motor shaft angle in radians.

pub fn shaft_angle_deg_from_raw(&self, raw: u16) -> f32

Convert a raw encoder value [0..65535] into motor shaft angle in degrees.

pub fn raw_for_shaft_angle_rad(&self, angle_rad: f32) -> u16

Convert a desired motor shaft angle (radians) into a raw encoder value.

pub fn raw_for_shaft_angle_deg(&self, angle_deg: f32) -> u16

Convert a desired motor shaft angle (degrees) into a raw encoder value.

pub fn tile_angle_rad_from_raw(&self, raw: u16) -> f32

Convert a raw encoder value into tile tilt angle in radians.

pub fn tile_angle_deg_from_raw(&self, raw: u16) -> f32

Convert a raw encoder value into tile tilt angle in degrees.

pub fn raw_for_tile_angle_rad(&self, tile_angle_rad: f32) -> u16

Convert a desired tile tilt angle in radians into a raw encoder value.

pub fn raw_for_tile_angle_deg(&self, tile_angle_deg: f32) -> u16

Convert a desired tile tilt angle in degrees into a raw encoder value.