melfely
7f1018bb8b
I realized that I was trying to do inheirtance rather than composition which is the rust way. This should be a much bet
42 lines
1.4 KiB
Rust
42 lines
1.4 KiB
Rust
use crate::core::motor;
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use crate::core::motor::{Direction, Speed};
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use crate::core::logic::pid;
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#[derive(Debug, Clone, Copy, PartialEq)]
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/// # Motor Controller
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/// This is a motor controller that takes in a generic type T that has implemented the needed traits.
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/// Most specifically Driver and Sensor.
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///
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/// ## Usage
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///
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/// Creating this allows for the controller a motor via a simple PID f32 signed Speed command, rather than u16 speed commands
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pub struct Controller<T>
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where
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T: motor::Driver + motor::Sensor,
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{
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pub motor: T,
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max_speed: Speed,
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pid: pid::PID,
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current_direction: Direction,
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}
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///Controller Impl for the adding the PID logic for handling the motor compiston
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impl<T: motor::Driver + motor::Sensor> Controller<T> {
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///Uses the given set_speed and then will handle the rest of the control logic to accurately* hit the requested speed
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pub fn control(&mut self, set_speed: Speed) {
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let max_speed_rads = self.max_speed.rads();
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let set_speed_rads = set_speed.rads().clamp(-max_speed_rads, max_speed_rads);
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self.pid.set_point(set_speed_rads);
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let pid_output = self.pid.pid_step(self.motor.get_speed().rads());
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self.current_direction.dir_from_f32(pid_output);
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let motor_command = (pid_output * 65535.0) as u16;
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self.motor
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.set_speed_and_direction(motor_command, self.current_direction);
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}
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}
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