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Thanks for taking the time, this seems like it should be simple but I must be miss understanding how something works. I have two methods, one taking the concrete type and the other taking two generics: struct DCMotor { //... fn high_speed<I: SliceId, C: ChannelId>( &mut self, enable : &mut Channel<Slice<I, FreeRunning>, C> ) { enable.set_duty_cycle(HIGH_SPEED) . unwrap(); } fn low_speed( &mut self, enable : &mut Channel<Slice<Pwm1, FreeRunning>, B> ) { enable.set_duty_cycle(LOW_SPEED) . unwrap(); } } `low_speed` with concrete type compiles, but `high_speed` with generics doesn't. I thought the inclusion of `<I: SliceId, C: ChannelId>` should restrict the potential types used in any calling code: motor.high_speed::<Pwm1, A>(channel_a); motor.low_speed(channel_b); Specifying types (Pwm1../A|B) that (seem to) implement the traits SliceId, and ChannelId: * SliceId in rp2040_hal::pwm - Rust impl SliceId for Pwm1 * ChannelId in rp2040_hal::pwm - Rust impl ChannelId for A I think SetDutyCycle is implemented for Channel: * Channel in rp2040_hal::pwm - Rust impl<S: AnySlice> SetDutyCycle for Channel<S, A> But compilation still complains the trait bounds are not satisfied: error[E0599]: the method `set_duty_cycle` exists for mutable reference `&mut Channel<Slice<I, FreeRunning>, C>`, but its trait bounds were not satisfied --> src/main.rs:93:14 | 93 | ) { enable.set_duty_cycle(HIGH_SPEED) . unwrap(); } | ^^^^^^^^^^^^^^ method cannot be called on `&mut Channel<Slice<I, FreeRunning>, C>` due to unsatisfied trait bounds | ::: /home/c/.cargo/registry/src/index.crates.io-6f17d22bba15001f/rp2040-hal-0.10.2/src/pwm/mod.rs:606:1 | 606 | pub struct Channel<S: AnySlice, C: ChannelId> { | --------------------------------------------- doesn't satisfy `_: SetDutyCycle` | = note: the following trait bounds were not satisfied: `rp_pico::rp2040_hal::pwm::Channel<Slice<I, rp_pico::rp2040_hal::pwm::FreeRunning>, C>: SetDutyCycle` which is required by `&mut rp_pico::rp2040_hal::pwm::Channel<Slice<I, rp_pico::rp2040_hal::pwm::FreeRunning>, C>: SetDutyCycle` What am I missing, how could I satisfy the compiler while still retaining the slight abstraction?

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