Struct RobotDefinition

pub struct RobotDefinition<const WHEELS: usize> {
    pub radius: f32,
    pub drive_system: DriveSystem<WHEELS>,
    pub motors: [WheelDefinition; WHEELS],
    pub default_pid: [f32; 3],
    pub pwm_top: u16,
    pub default_motor_config: [[usize; 2]; WHEELS],
    pub default_encoder_config: [(usize, bool); 3],
    pub default_dist_sensor_order: [usize; 4],
    pub has_screen: bool,
    pub sensor_distance: f32,
}

All the information that may vary from robot to robot

Fields

radius: f32

Maximum radius of the circle the robot fits into

drive_system: DriveSystem<WHEELS>

Exposes methods to calculate motor velocities

motors: [WheelDefinition; WHEELS]

Describes physical characteristics of the motors

default_pid: [f32; 3]

Default PID parameters - can change

pwm_top: u16

The maximum value for motor PWM pins

default_motor_config: [[usize; 2]; WHEELS]

Which pwm pin corresponds to forwards and backwards for each motor - can change

default_encoder_config: [(usize, bool); 3]

Which encoder belongs to which motor, and whether it is reversed - can change

default_dist_sensor_order: [usize; 4]

The order of the distance sensors

has_screen: bool

Whether the robot should expect to have access to a screen

sensor_distance: f32

Maximum range of the sensors in meters

Implementations

impl RobotDefinition<3>

pub fn new(name: RobotName) -> Self

Create the default RobotDefinition for the given robot

Trait Implementations

impl<const WHEELS: usize> Clone for RobotDefinition<WHEELS>

fn clone(&self) -> RobotDefinition<WHEELS>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<const WHEELS: usize> Debug for RobotDefinition<WHEELS>

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

Formats the value using the given formatter.

impl<const WHEELS: usize> Copy for RobotDefinition<WHEELS>