Struct Quadrature 

pub struct Quadrature { /* private fields */ }

Decodes a quadrature (A/B) encoder into a running tick count.

An incremental encoder reports motion as two square waves a quarter-cycle apart; their order of change tells direction. Feeding successive A/B readings to update returns the per-step direction and accumulates a signed count, the foundation for wheel odometry. Pair it with a QuadratureScale to turn that count into metres.

Examples

use pamoja_kit::Quadrature;

let mut enc = Quadrature::new();
// One full cycle forward: 00 -> 01 -> 11 -> 10 -> 00, one tick each.
for &(a, b) in &[(false, true), (true, true), (true, false), (false, false)] {
    assert_eq!(enc.update(a, b), 1);
}
assert_eq!(enc.count(), 4);

Implementations

impl Quadrature

pub fn new() -> Self

Creates a decoder assuming both channels start low.

Returns

A decoder with a zero count.

pub fn starting(a: bool, b: bool) -> Self

Creates a decoder seeded with the encoder’s current channel levels.

Seeding the initial state avoids a spurious first tick when the encoder does not happen to rest with both channels low.

Arguments

• a - the current A channel level.
• b - the current B channel level.

Returns

A decoder with a zero count and the given starting state.

pub fn update(&mut self, a: bool, b: bool) -> i8

Feeds the latest channel levels and returns the tick delta.

Arguments

• a - the latest A channel level.
• b - the latest B channel level.

Returns

+1 or -1 for a step in either direction, or 0 for no change or an illegal jump.

pub fn count(&self) -> i64

Returns the accumulated signed tick count.

Returns

The running count.

pub fn reset(&mut self)

Resets the count to zero, keeping the current channel state.

Trait Implementations

impl Clone for Quadrature

fn clone(&self) -> Quadrature

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Quadrature

impl Debug for Quadrature

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

Formats the value using the given formatter.

impl Default for Quadrature

fn default() -> Quadrature

Returns the “default value” for a type.