Struct LinearController 

pub struct LinearController<CS: CsControl, const SLP_P: char, const SLP_N: u8, const DIS_P: char, const DIS_N: u8, Pwm1, Pwm2, ReadPos, const N: usize> {
    pub actuator: ActuonixLinear<CS, SLP_P, SLP_N, DIS_P, DIS_N, Pwm1, Pwm2, ReadPos, N>,
    pub pid: Pid,
    pub mode: LinearMode,
    pub target_position_mm: f32,
    pub min_position_mm: f32,
    pub max_position_mm: f32,
    pub on_target_tolerance_mm: f32,
}

PID position controller for an Actuonix linear actuator. Call step periodically.

Fields

actuator: ActuonixLinear<CS, SLP_P, SLP_N, DIS_P, DIS_N, Pwm1, Pwm2, ReadPos, N>

pid: Pid

mode: LinearMode

target_position_mm: f32

min_position_mm: f32

max_position_mm: f32

on_target_tolerance_mm: f32

Implementations

impl<CS: CsControl, const SLP_P: char, const SLP_N: u8, const DIS_P: char, const DIS_N: u8, Pwm1, Pwm2, ReadPos, const N: usize> LinearController<CS, SLP_P, SLP_N, DIS_P, DIS_N, Pwm1, Pwm2, ReadPos, N>

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

pub fn new( actuator: ActuonixLinear<CS, SLP_P, SLP_N, DIS_P, DIS_N, Pwm1, Pwm2, ReadPos, N>, pid: Pid, min_position_mm: f32, max_position_mm: f32, on_target_tolerance_mm: f32, ) -> Self

Create a new linear controller with PID gains and limits.

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

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

pub fn step(&mut self, dt: f32) -> Result<(), ControlError>

Run one control step. Returns Err(NoPositionFeedback) if the mode is PositionControl but the actuator has no enabled pot channels; in that case the actuator is braked for safety.