kernel/hil/
servo.rs

1// Licensed under the Apache License, Version 2.0 or the MIT License.
2// SPDX-License-Identifier: Apache-2.0 OR MIT
3// Copyright Tock Contributors 2024.
4
5use crate::ErrorCode;
6
7pub trait Servo<'a> {
8    /// Changes the angle of the servo.
9    ///
10    /// Return values:
11    /// - `Ok(())`: The attempt at changing the angle was successful.
12    /// - `FAIL`: Cannot change the angle.
13    /// - `INVAL`: The value exceeds u16, indicating it's incorrect
14    ///   since servomotors can only have a maximum of 360 degrees.
15    /// - `NODEVICE`: The index exceeds the number of servomotors provided.
16    ///
17    /// # Arguments
18    /// - `angle`: the variable that receives the angle(in degrees from 0 to
19    ///   180) from the servo driver.
20    fn set_angle(&self, angle: u16) -> Result<(), ErrorCode>;
21
22    /// Returns the angle of the servo.
23    ///
24    /// Return values:
25    /// - `Ok(angle)`: The value, in angles from 0 to 360, of the servo.
26    /// - `NOSUPPORT`: The servo cannot return its angle.
27    /// - `NODEVICE`: The index exceeds the number of servomotors provided.
28    fn get_angle(&self) -> Result<usize, ErrorCode>;
29}
kernel/hil/servo.rs

kernel/hil/
servo.rs
