[RSDK-8749] add FakeServo, servo data capture #512
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gvaradarajan
approved these changes
May 27, 2025
micro-rdk/src/common/servo.rs
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| #[derive(DoCommand)] | ||
| pub struct FakeServo { | ||
| pos: u32, | ||
| pow: u32, |
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is pow meaningful to include? It never appears to change
acmorrow
approved these changes
May 28, 2025
micro-rdk/src/common/servo.rs
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| Ok(self.pow > 0) | ||
| } | ||
| fn stop(&mut self) -> Result<(), super::actuator::ActuatorError> { | ||
| self.pos = 0; |
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If the stop method set pow to 0, then it would also resolve the comment above about pow never changing. But, it isn't clear to me that 0 pow is actually the stopped state for a servo?
micro-rdk/src/common/servo.rs
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| #[cfg(feature = "builtin-components")] | ||
| impl Actuator for FakeServo { | ||
| fn is_moving(&mut self) -> Result<bool, super::actuator::ActuatorError> { | ||
| Ok(self.pow > 0) |
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The fake servo moves to a new position instantaneously, so, is it ever moving? But pow is always 1, so it will also always be moving, even if no move_to was ever called.
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@acmorrow updated the I had originally based it off of our |
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verified on app by enabling data collection, and making a
FakeServowith the following attribute