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BaseController

omnitiles::control::base_controller

Struct BaseController

pub struct BaseController<const W1_IN1_P: char, const W1_IN1_N: u8, const W1_IN2_P: char, const W1_IN2_N: u8, W1Pwm, const W2_IN1_P: char, const W2_IN1_N: u8, const W2_IN2_P: char, const W2_IN2_N: u8, W2Pwm, const W3_IN1_P: char, const W3_IN1_N: u8, const W3_IN2_P: char, const W3_IN2_N: u8, W3Pwm, const W4_IN1_P: char, const W4_IN1_N: u8, const W4_IN2_P: char, const W4_IN2_N: u8, W4Pwm> {
    pub fl: Tb6612<W1_IN1_P, W1_IN1_N, W1_IN2_P, W1_IN2_N, W1Pwm>,
    pub fr: Tb6612<W2_IN1_P, W2_IN1_N, W2_IN2_P, W2_IN2_N, W2Pwm>,
    pub rl: Tb6612<W3_IN1_P, W3_IN1_N, W3_IN2_P, W3_IN2_N, W3Pwm>,
    pub rr: Tb6612<W4_IN1_P, W4_IN1_N, W4_IN2_P, W4_IN2_N, W4Pwm>,
}

Fields§

§fl: Tb6612<W1_IN1_P, W1_IN1_N, W1_IN2_P, W1_IN2_N, W1Pwm>§fr: Tb6612<W2_IN1_P, W2_IN1_N, W2_IN2_P, W2_IN2_N, W2Pwm>§rl: Tb6612<W3_IN1_P, W3_IN1_N, W3_IN2_P, W3_IN2_N, W3Pwm>§rr: Tb6612<W4_IN1_P, W4_IN1_N, W4_IN2_P, W4_IN2_N, W4Pwm>

Implementations§

impl<const W1_IN1_P: char, const W1_IN1_N: u8, const W1_IN2_P: char, const W1_IN2_N: u8, W1Pwm: _embedded_hal_PwmPin<Duty = u16>, const W2_IN1_P: char, const W2_IN1_N: u8, const W2_IN2_P: char, const W2_IN2_N: u8, W2Pwm: _embedded_hal_PwmPin<Duty = u16>, const W3_IN1_P: char, const W3_IN1_N: u8, const W3_IN2_P: char, const W3_IN2_N: u8, W3Pwm: _embedded_hal_PwmPin<Duty = u16>, const W4_IN1_P: char, const W4_IN1_N: u8, const W4_IN2_P: char, const W4_IN2_N: u8, W4Pwm: _embedded_hal_PwmPin<Duty = u16>> BaseController<W1_IN1_P, W1_IN1_N, W1_IN2_P, W1_IN2_N, W1Pwm, W2_IN1_P, W2_IN1_N, W2_IN2_P, W2_IN2_N, W2Pwm, W3_IN1_P, W3_IN1_N, W3_IN2_P, W3_IN2_N, W3Pwm, W4_IN1_P, W4_IN1_N, W4_IN2_P, W4_IN2_N, W4Pwm>

pub fn new( fl: Tb6612<W1_IN1_P, W1_IN1_N, W1_IN2_P, W1_IN2_N, W1Pwm>, fr: Tb6612<W2_IN1_P, W2_IN1_N, W2_IN2_P, W2_IN2_N, W2Pwm>, rl: Tb6612<W3_IN1_P, W3_IN1_N, W3_IN2_P, W3_IN2_N, W3Pwm>, rr: Tb6612<W4_IN1_P, W4_IN1_N, W4_IN2_P, W4_IN2_N, W4Pwm>, ) -> Self

pub fn set_velocity(&mut self, vx: f32, vy: f32, omega: f32)

Set body-frame velocity. Inputs are normalized: -1.0..1.0 for each axis.

pub fn brake(&mut self)

Brake all four wheels.

Auto Trait Implementations§

impl<const W1_IN1_P: char, const W1_IN1_N: u8, const W1_IN2_P: char, const W1_IN2_N: u8, W1Pwm, const W2_IN1_P: char, const W2_IN1_N: u8, const W2_IN2_P: char, const W2_IN2_N: u8, W2Pwm, const W3_IN1_P: char, const W3_IN1_N: u8, const W3_IN2_P: char, const W3_IN2_N: u8, W3Pwm, const W4_IN1_P: char, const W4_IN1_N: u8, const W4_IN2_P: char, const W4_IN2_N: u8, W4Pwm> Freeze for BaseController<W1_IN1_P, W1_IN1_N, W1_IN2_P, W1_IN2_N, W1Pwm, W2_IN1_P, W2_IN1_N, W2_IN2_P, W2_IN2_N, W2Pwm, W3_IN1_P, W3_IN1_N, W3_IN2_P, W3_IN2_N, W3Pwm, W4_IN1_P, W4_IN1_N, W4_IN2_P, W4_IN2_N, W4Pwm>
where W1Pwm: Freeze, W2Pwm: Freeze, W3Pwm: Freeze, W4Pwm: Freeze,

impl<const W1_IN1_P: char, const W1_IN1_N: u8, const W1_IN2_P: char, const W1_IN2_N: u8, W1Pwm, const W2_IN1_P: char, const W2_IN1_N: u8, const W2_IN2_P: char, const W2_IN2_N: u8, W2Pwm, const W3_IN1_P: char, const W3_IN1_N: u8, const W3_IN2_P: char, const W3_IN2_N: u8, W3Pwm, const W4_IN1_P: char, const W4_IN1_N: u8, const W4_IN2_P: char, const W4_IN2_N: u8, W4Pwm> RefUnwindSafe for BaseController<W1_IN1_P, W1_IN1_N, W1_IN2_P, W1_IN2_N, W1Pwm, W2_IN1_P, W2_IN1_N, W2_IN2_P, W2_IN2_N, W2Pwm, W3_IN1_P, W3_IN1_N, W3_IN2_P, W3_IN2_N, W3Pwm, W4_IN1_P, W4_IN1_N, W4_IN2_P, W4_IN2_N, W4Pwm>
where W1Pwm: RefUnwindSafe, W2Pwm: RefUnwindSafe, W3Pwm: RefUnwindSafe, W4Pwm: RefUnwindSafe,

impl<const W1_IN1_P: char, const W1_IN1_N: u8, const W1_IN2_P: char, const W1_IN2_N: u8, W1Pwm, const W2_IN1_P: char, const W2_IN1_N: u8, const W2_IN2_P: char, const W2_IN2_N: u8, W2Pwm, const W3_IN1_P: char, const W3_IN1_N: u8, const W3_IN2_P: char, const W3_IN2_N: u8, W3Pwm, const W4_IN1_P: char, const W4_IN1_N: u8, const W4_IN2_P: char, const W4_IN2_N: u8, W4Pwm> Send for BaseController<W1_IN1_P, W1_IN1_N, W1_IN2_P, W1_IN2_N, W1Pwm, W2_IN1_P, W2_IN1_N, W2_IN2_P, W2_IN2_N, W2Pwm, W3_IN1_P, W3_IN1_N, W3_IN2_P, W3_IN2_N, W3Pwm, W4_IN1_P, W4_IN1_N, W4_IN2_P, W4_IN2_N, W4Pwm>
where W1Pwm: Send, W2Pwm: Send, W3Pwm: Send, W4Pwm: Send,

impl<const W1_IN1_P: char, const W1_IN1_N: u8, const W1_IN2_P: char, const W1_IN2_N: u8, W1Pwm, const W2_IN1_P: char, const W2_IN1_N: u8, const W2_IN2_P: char, const W2_IN2_N: u8, W2Pwm, const W3_IN1_P: char, const W3_IN1_N: u8, const W3_IN2_P: char, const W3_IN2_N: u8, W3Pwm, const W4_IN1_P: char, const W4_IN1_N: u8, const W4_IN2_P: char, const W4_IN2_N: u8, W4Pwm> Sync for BaseController<W1_IN1_P, W1_IN1_N, W1_IN2_P, W1_IN2_N, W1Pwm, W2_IN1_P, W2_IN1_N, W2_IN2_P, W2_IN2_N, W2Pwm, W3_IN1_P, W3_IN1_N, W3_IN2_P, W3_IN2_N, W3Pwm, W4_IN1_P, W4_IN1_N, W4_IN2_P, W4_IN2_N, W4Pwm>
where W1Pwm: Sync, W2Pwm: Sync, W3Pwm: Sync, W4Pwm: Sync,

impl<const W1_IN1_P: char, const W1_IN1_N: u8, const W1_IN2_P: char, const W1_IN2_N: u8, W1Pwm, const W2_IN1_P: char, const W2_IN1_N: u8, const W2_IN2_P: char, const W2_IN2_N: u8, W2Pwm, const W3_IN1_P: char, const W3_IN1_N: u8, const W3_IN2_P: char, const W3_IN2_N: u8, W3Pwm, const W4_IN1_P: char, const W4_IN1_N: u8, const W4_IN2_P: char, const W4_IN2_N: u8, W4Pwm> Unpin for BaseController<W1_IN1_P, W1_IN1_N, W1_IN2_P, W1_IN2_N, W1Pwm, W2_IN1_P, W2_IN1_N, W2_IN2_P, W2_IN2_N, W2Pwm, W3_IN1_P, W3_IN1_N, W3_IN2_P, W3_IN2_N, W3Pwm, W4_IN1_P, W4_IN1_N, W4_IN2_P, W4_IN2_N, W4Pwm>
where W1Pwm: Unpin, W2Pwm: Unpin, W3Pwm: Unpin, W4Pwm: Unpin,

impl<const W1_IN1_P: char, const W1_IN1_N: u8, const W1_IN2_P: char, const W1_IN2_N: u8, W1Pwm, const W2_IN1_P: char, const W2_IN1_N: u8, const W2_IN2_P: char, const W2_IN2_N: u8, W2Pwm, const W3_IN1_P: char, const W3_IN1_N: u8, const W3_IN2_P: char, const W3_IN2_N: u8, W3Pwm, const W4_IN1_P: char, const W4_IN1_N: u8, const W4_IN2_P: char, const W4_IN2_N: u8, W4Pwm> UnsafeUnpin for BaseController<W1_IN1_P, W1_IN1_N, W1_IN2_P, W1_IN2_N, W1Pwm, W2_IN1_P, W2_IN1_N, W2_IN2_P, W2_IN2_N, W2Pwm, W3_IN1_P, W3_IN1_N, W3_IN2_P, W3_IN2_N, W3Pwm, W4_IN1_P, W4_IN1_N, W4_IN2_P, W4_IN2_N, W4Pwm>
where W1Pwm: UnsafeUnpin, W2Pwm: UnsafeUnpin, W3Pwm: UnsafeUnpin, W4Pwm: UnsafeUnpin,

impl<const W1_IN1_P: char, const W1_IN1_N: u8, const W1_IN2_P: char, const W1_IN2_N: u8, W1Pwm, const W2_IN1_P: char, const W2_IN1_N: u8, const W2_IN2_P: char, const W2_IN2_N: u8, W2Pwm, const W3_IN1_P: char, const W3_IN1_N: u8, const W3_IN2_P: char, const W3_IN2_N: u8, W3Pwm, const W4_IN1_P: char, const W4_IN1_N: u8, const W4_IN2_P: char, const W4_IN2_N: u8, W4Pwm> UnwindSafe for BaseController<W1_IN1_P, W1_IN1_N, W1_IN2_P, W1_IN2_N, W1Pwm, W2_IN1_P, W2_IN1_N, W2_IN2_P, W2_IN2_N, W2Pwm, W3_IN1_P, W3_IN1_N, W3_IN2_P, W3_IN2_N, W3Pwm, W4_IN1_P, W4_IN1_N, W4_IN2_P, W4_IN2_N, W4Pwm>
where W1Pwm: UnwindSafe, W2Pwm: UnwindSafe, W3Pwm: UnwindSafe, W4Pwm: UnwindSafe,

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