Struct QuadratureScale 

pub struct QuadratureScale { /* private fields */ }

Converts encoder ticks into the distance and speed a wheel has travelled.

Examples

use pamoja_kit::QuadratureScale;

// 360 ticks per revolution on a wheel of 0.05 m radius.
let scale = QuadratureScale::new(360.0, 0.05);
// One full revolution rolls out one circumference.
assert!((scale.distance(360) - (2.0 * core::f32::consts::PI * 0.05)).abs() < 1e-6);

Implementations

impl QuadratureScale

pub fn new(counts_per_rev: f32, wheel_radius: f32) -> Self

Creates a scale from the encoder resolution and wheel size.

Arguments

• counts_per_rev - ticks per wheel revolution; its magnitude is used.
• wheel_radius - the wheel radius in metres; its magnitude is used.

Returns

The scale.

pub fn distance(&self, count: i64) -> f32

Returns the distance rolled for a tick count.

Arguments

• count - the signed tick count.

Returns

The distance in metres, zero when the resolution is zero.

pub fn velocity(&self, delta_count: i64, dt: f32) -> f32

Returns the speed for a tick count accumulated over a time step.

Arguments

• delta_count - the ticks counted during the step.
• dt - the length of the step.

Returns

The speed in metres per second, zero when dt is zero.

Trait Implementations

impl Clone for QuadratureScale

fn clone(&self) -> QuadratureScale

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for QuadratureScale

impl Debug for QuadratureScale

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

Formats the value using the given formatter.