kraemr
8d42bd93f7
backend works flawlessly now added machine_connection and a main_thread actor added back write_machine_device_ident error handling for machines restored correctly handles machine connections/disconnections now removed unused deps
28 lines
787 B
Rust
28 lines
787 B
Rust
use ethercat_hal::io::stepper_velocity_el70x1::StepperVelocityEL70x1;
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#[derive(Debug)]
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pub struct BufferTowerController {
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enabled: bool,
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/// Stepper driver. Controls buffer stepper motor
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pub stepper_driver: StepperVelocityEL70x1,
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}
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impl BufferTowerController {
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pub const fn new(driver: StepperVelocityEL70x1) -> Self {
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Self {
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enabled: false,
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stepper_driver: driver,
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}
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}
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pub fn set_enabled(&mut self, enabled: bool) {
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self.enabled = enabled;
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if enabled {
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self.stepper_driver.set_enabled(true);
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let _ = self.stepper_driver.set_speed(10.0);
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} else {
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self.stepper_driver.set_enabled(false);
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let _ = self.stepper_driver.set_speed(0.0);
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}
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}
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}
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