Struct EStop 

pub struct EStop { /* private fields */ }

An emergency stop that latches: once engaged it holds until explicitly reset.

Unlike a transient condition, an e-stop must stay tripped after the event that caused it, so a person decides when it is safe to move again. While engaged, gate forces any command to a full stop.

Examples

use pamoja_kit::{EStop, Twist};

let mut estop = EStop::new();
let cmd = Twist::planar(1.0, 0.0);
assert_eq!(estop.gate(cmd), cmd); // clear: passes through

estop.engage();
assert_eq!(estop.gate(cmd), Twist::zero()); // latched: stopped
estop.reset();
assert_eq!(estop.gate(cmd), cmd); // cleared by a person

Implementations

impl EStop

pub fn new() -> Self

Creates a cleared e-stop.

Returns

An e-stop that is not engaged.

pub fn engage(&mut self)

Engages the stop; it latches until reset.

pub fn reset(&mut self)

Clears the stop, allowing motion again.

pub fn is_engaged(&self) -> bool

Returns whether the stop is currently engaged.

Returns

true while latched.

pub fn gate(&self, desired: Twist) -> Twist

Returns the command to apply: the input when clear, a full stop when engaged.

Arguments

• desired - the command that would be applied if clear.

Returns

desired when clear, or Twist::zero when engaged.

Trait Implementations

impl Clone for EStop

fn clone(&self) -> EStop

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for EStop

impl Debug for EStop

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

Formats the value using the given formatter.

impl Default for EStop

fn default() -> EStop

Returns the “default value” for a type.