Struct tb6612fng::Motor

pub struct Motor<IN1, IN2, PWM> { /* private fields */ }

Represents a single motor (either motor A or motor B) hooked up to a TB6612FNG controller. This is unaware of the standby pin. If you plan on using both motors and the standby feature then use the Tb6612fng struct instead. See the crate-level comment for further details on when to use what.

Implementations

impl<IN1, IN2, PWM> Motor<IN1, IN2, PWM>where
    IN1: OutputPin,
    IN2: OutputPin,
    PWM: PwmPin<Duty = u16>,

pub fn new(in1: IN1, in2: IN2, pwm: PWM) -> Motor<IN1, IN2, PWM>

Instantiate a new Motor with the defined pins. This also automatically enables the PWM pin. The initial state of the motor will be stopped.

Usage example:

use tb6612fng::Motor;

let motor = Motor::new(
    motor_in1,
    motor_in2,
    motor_pwm,
);

pub fn drive_forward(&mut self, speed: u8) -> Result<(), DriveError>

Drive forward with the defined speed. Note that the speed is a percentage between 0 and 100!

pub fn drive_backwards(&mut self, speed: u8) -> Result<(), DriveError>

Drive backwards with the defined speed. Note that the speed is a percentage between 0 and 100!

pub fn brake(&mut self)

Actively brake.

pub fn stop(&mut self)

Stop the motor but don’t brake (let it coast).

pub fn drive(&mut self, drive_command: DriveCommand) -> Result<(), DriveError>

Drive with the defined speed (or brake or stop the motor).

pub fn current_drive_command(&self) -> &DriveCommand

Get the currently active drive command.

If you only want to know the speed consider calling Motor::current_speed instead.

pub fn current_speed(&self) -> i8

Return the current speed of the motor (in percentage). Note that driving forward returns a positive number while driving backwards returns a negative number and both DriveCommand::Brake and DriveCommand::Stop return 0.

If you need to know in more details what the current status is consider calling Motor::current_drive_command instead.

Trait Implementations

impl<IN1: Debug, IN2: Debug, PWM: Debug> Debug for Motor<IN1, IN2, PWM>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<IN1, IN2, PWM> Format for Motor<IN1, IN2, PWM>where
    IN1: Format,
    IN2: Format,
    PWM: Format,

fn format(&self, f: Formatter<'_>)

Writes the defmt representation of self to fmt.