Struct Esc 

pub struct Esc { /* private fields */ }

Maps a normalized throttle to an electronic speed controller’s RC pulse width.

An ESC reads the same RC pulse a servo does, with the pulse width setting motor output. Esc::bidirectional uses the common reversible scheme: 1000 microseconds full reverse, 1500 neutral, 2000 full forward, so a throttle in [-1, 1] maps linearly across it.

Examples

use pamoja_kit::Esc;

let esc = Esc::bidirectional();
assert_eq!(esc.pulse(0.0), 1500); // neutral
assert_eq!(esc.pulse(1.0), 2000); // full forward
assert_eq!(esc.pulse(-1.0), 1000); // full reverse
assert_eq!(esc.pulse(0.5), 1750);

Implementations

impl Esc

pub fn bidirectional() -> Self

Returns the standard reversible ESC map: 1000 / 1500 / 2000 microseconds.

Returns

The bidirectional map.

pub fn new(min_us: u16, neutral_us: u16, max_us: u16) -> Self

Creates a map from explicit reverse, neutral, and forward pulse widths.

Arguments

• min_us - the pulse width at full reverse.
• neutral_us - the pulse width at rest.
• max_us - the pulse width at full forward.

Returns

The map.

pub fn pulse(&self, throttle: f32) -> u16

Returns the pulse width for a throttle.

Arguments

• throttle - the demand in [-1, 1], clamped; negative reverses, positive drives forward.

Returns

The pulse width in microseconds.

Trait Implementations

impl Clone for Esc

fn clone(&self) -> Esc

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Esc

impl Debug for Esc

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

Formats the value using the given formatter.