Crate orbita3d_controller

Orbita3dController

This crate provides a controller for the Orbita3d actuator.

The main Class is Orbita3dController which allows to control the Orbita3d actuator.

Examples

use orbita3d_controller::Orbita3dController;

let mut orbita3d = Orbita3dController::with_config("./config/fake.yaml").unwrap();

let orientation = orbita3d.get_current_orientation().unwrap();
println!("Current orientation: {:?}", orientation);

orbita3d.enable_torque(true).unwrap();

let target = [0.0, 0.0, 0.7, 0.7];
orbita3d.set_target_orientation(target).unwrap();

let orientation = orbita3d.get_current_orientation().unwrap();
println!("Current orientation: {:?}", orientation);

Modules

io

Structs

ApproximateHardwareZero

ApproximateHardwareZero config

DisksConfig

Disks Config

FirmwareZero

Firmwarezero config

HallZero

HallZero config

MotorGearboxConfig

Motor/gearbox characteristics

Orbita3dConfig

Orbita3d Config

Orbita3dController

Orbita3d Controller

Orbita3dFeedback

Feedback struct

ZeroStartup

ZeroStartup config

Enums

ZeroType

Zero type config This is used to configure the zero of each disk