cocube_rs

Struct CoCube

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pub struct CoCube { /* private fields */ }

Implementations§

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impl CoCube

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pub fn new( robot_id: u32, gateway: &str, local_ip: &str, ip_prefix: u32, udp_port: u16, ) -> Result<Self>

Examples found in repository?
examples/main.rs (lines 7-13)
5fn main() -> Result<(), Box<dyn std::error::Error>> {
6    // 初始化CoCube实例
7    let agent = CoCube::new(
8        1, 
9        "192.168.31.1", 
10        "192.168.31.31", 
11        1,    
12        6000
13    )?;
14
15    // 获取并打印位置信息
16    let pos = agent.get_position();
17    println!("Current position: x={:.2}, y={:.2}, yaw={:.2}rad", pos[0], pos[1], pos[2]);
18
19    // 基础运动控制示例
20    println!("Moving forward...");
21    agent.move_robot("forward", 40);
22    thread::sleep(Duration::from_secs(2));
23    agent.wheels_stop();
24
25    println!("Rotating left...");
26    agent.rotate_robot("left", 30);
27    thread::sleep(Duration::from_secs(2));
28    agent.wheels_stop();
29
30    // 目标点导航示例
31    let target_x = 200.0;
32    let target_y = 200.0;
33    println!("Moving to target ({}, {})", target_x, target_y);
34   // agent.move_to_target(target_x, target_y, 50);
35
36    // 等待到达目标点
37    // loop {
38    //     let curr_pos = agent.get_position();
39    //     let dx = curr_pos[0] - target_x;
40    //     let dy = curr_pos[1] - target_y;
41    //     let distance = (dx.powi(2) + dy.powi(2)).sqrt();
42        
43    //     println!("Current position: ({:.1}, {:.1}), Distance: {:.1} points", 
44    //             curr_pos[0], curr_pos[1], distance);
45        
46    //     if distance < 10.0 {
47    //         println!("Reached target!");
48    //         break;
49    //     }
50    //     thread::sleep(Duration::from_millis(100));
51    // }
52
53    // 显示控制示例
54    agent.set_display_color(0, 255, 0); // 设置绿色
55    if let Some(_) = agent.mb_display(33554431) {
56        // 成功处理显示命令
57    }
58
59    Ok(())
60}
Source

pub fn get_position(&self) -> [i32; 3]

Examples found in repository?
examples/main.rs (line 16)
5fn main() -> Result<(), Box<dyn std::error::Error>> {
6    // 初始化CoCube实例
7    let agent = CoCube::new(
8        1, 
9        "192.168.31.1", 
10        "192.168.31.31", 
11        1,    
12        6000
13    )?;
14
15    // 获取并打印位置信息
16    let pos = agent.get_position();
17    println!("Current position: x={:.2}, y={:.2}, yaw={:.2}rad", pos[0], pos[1], pos[2]);
18
19    // 基础运动控制示例
20    println!("Moving forward...");
21    agent.move_robot("forward", 40);
22    thread::sleep(Duration::from_secs(2));
23    agent.wheels_stop();
24
25    println!("Rotating left...");
26    agent.rotate_robot("left", 30);
27    thread::sleep(Duration::from_secs(2));
28    agent.wheels_stop();
29
30    // 目标点导航示例
31    let target_x = 200.0;
32    let target_y = 200.0;
33    println!("Moving to target ({}, {})", target_x, target_y);
34   // agent.move_to_target(target_x, target_y, 50);
35
36    // 等待到达目标点
37    // loop {
38    //     let curr_pos = agent.get_position();
39    //     let dx = curr_pos[0] - target_x;
40    //     let dy = curr_pos[1] - target_y;
41    //     let distance = (dx.powi(2) + dy.powi(2)).sqrt();
42        
43    //     println!("Current position: ({:.1}, {:.1}), Distance: {:.1} points", 
44    //             curr_pos[0], curr_pos[1], distance);
45        
46    //     if distance < 10.0 {
47    //         println!("Reached target!");
48    //         break;
49    //     }
50    //     thread::sleep(Duration::from_millis(100));
51    // }
52
53    // 显示控制示例
54    agent.set_display_color(0, 255, 0); // 设置绿色
55    if let Some(_) = agent.mb_display(33554431) {
56        // 成功处理显示命令
57    }
58
59    Ok(())
60}
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pub fn set_tft_backlight(&self, flag: u8)

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pub fn draw_aruco_marker_on_tft(&self, id: u8)

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pub fn move_robot(&self, direction: &str, speed: u8)

Examples found in repository?
examples/main.rs (line 21)
5fn main() -> Result<(), Box<dyn std::error::Error>> {
6    // 初始化CoCube实例
7    let agent = CoCube::new(
8        1, 
9        "192.168.31.1", 
10        "192.168.31.31", 
11        1,    
12        6000
13    )?;
14
15    // 获取并打印位置信息
16    let pos = agent.get_position();
17    println!("Current position: x={:.2}, y={:.2}, yaw={:.2}rad", pos[0], pos[1], pos[2]);
18
19    // 基础运动控制示例
20    println!("Moving forward...");
21    agent.move_robot("forward", 40);
22    thread::sleep(Duration::from_secs(2));
23    agent.wheels_stop();
24
25    println!("Rotating left...");
26    agent.rotate_robot("left", 30);
27    thread::sleep(Duration::from_secs(2));
28    agent.wheels_stop();
29
30    // 目标点导航示例
31    let target_x = 200.0;
32    let target_y = 200.0;
33    println!("Moving to target ({}, {})", target_x, target_y);
34   // agent.move_to_target(target_x, target_y, 50);
35
36    // 等待到达目标点
37    // loop {
38    //     let curr_pos = agent.get_position();
39    //     let dx = curr_pos[0] - target_x;
40    //     let dy = curr_pos[1] - target_y;
41    //     let distance = (dx.powi(2) + dy.powi(2)).sqrt();
42        
43    //     println!("Current position: ({:.1}, {:.1}), Distance: {:.1} points", 
44    //             curr_pos[0], curr_pos[1], distance);
45        
46    //     if distance < 10.0 {
47    //         println!("Reached target!");
48    //         break;
49    //     }
50    //     thread::sleep(Duration::from_millis(100));
51    // }
52
53    // 显示控制示例
54    agent.set_display_color(0, 255, 0); // 设置绿色
55    if let Some(_) = agent.mb_display(33554431) {
56        // 成功处理显示命令
57    }
58
59    Ok(())
60}
Source

pub fn rotate_robot(&self, direction: &str, speed: u8)

Examples found in repository?
examples/main.rs (line 26)
5fn main() -> Result<(), Box<dyn std::error::Error>> {
6    // 初始化CoCube实例
7    let agent = CoCube::new(
8        1, 
9        "192.168.31.1", 
10        "192.168.31.31", 
11        1,    
12        6000
13    )?;
14
15    // 获取并打印位置信息
16    let pos = agent.get_position();
17    println!("Current position: x={:.2}, y={:.2}, yaw={:.2}rad", pos[0], pos[1], pos[2]);
18
19    // 基础运动控制示例
20    println!("Moving forward...");
21    agent.move_robot("forward", 40);
22    thread::sleep(Duration::from_secs(2));
23    agent.wheels_stop();
24
25    println!("Rotating left...");
26    agent.rotate_robot("left", 30);
27    thread::sleep(Duration::from_secs(2));
28    agent.wheels_stop();
29
30    // 目标点导航示例
31    let target_x = 200.0;
32    let target_y = 200.0;
33    println!("Moving to target ({}, {})", target_x, target_y);
34   // agent.move_to_target(target_x, target_y, 50);
35
36    // 等待到达目标点
37    // loop {
38    //     let curr_pos = agent.get_position();
39    //     let dx = curr_pos[0] - target_x;
40    //     let dy = curr_pos[1] - target_y;
41    //     let distance = (dx.powi(2) + dy.powi(2)).sqrt();
42        
43    //     println!("Current position: ({:.1}, {:.1}), Distance: {:.1} points", 
44    //             curr_pos[0], curr_pos[1], distance);
45        
46    //     if distance < 10.0 {
47    //         println!("Reached target!");
48    //         break;
49    //     }
50    //     thread::sleep(Duration::from_millis(100));
51    // }
52
53    // 显示控制示例
54    agent.set_display_color(0, 255, 0); // 设置绿色
55    if let Some(_) = agent.mb_display(33554431) {
56        // 成功处理显示命令
57    }
58
59    Ok(())
60}
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pub fn move_millisecs( &self, direction: &str, speed: u8, duration: u64, ) -> Option<String>

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pub fn rotate_millisecs( &self, direction: &str, speed: u8, duration: u64, ) -> Option<String>

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pub fn move_by_steps( &self, direction: &str, speed: u8, step: u16, ) -> Option<String>

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pub fn rotate_by_degree( &self, direction: &str, speed: u8, degree: u16, ) -> Option<String>

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pub fn set_wheel_speed(&self, left: u8, right: u8)

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pub fn wheels_stop(&self)

Examples found in repository?
examples/main.rs (line 23)
5fn main() -> Result<(), Box<dyn std::error::Error>> {
6    // 初始化CoCube实例
7    let agent = CoCube::new(
8        1, 
9        "192.168.31.1", 
10        "192.168.31.31", 
11        1,    
12        6000
13    )?;
14
15    // 获取并打印位置信息
16    let pos = agent.get_position();
17    println!("Current position: x={:.2}, y={:.2}, yaw={:.2}rad", pos[0], pos[1], pos[2]);
18
19    // 基础运动控制示例
20    println!("Moving forward...");
21    agent.move_robot("forward", 40);
22    thread::sleep(Duration::from_secs(2));
23    agent.wheels_stop();
24
25    println!("Rotating left...");
26    agent.rotate_robot("left", 30);
27    thread::sleep(Duration::from_secs(2));
28    agent.wheels_stop();
29
30    // 目标点导航示例
31    let target_x = 200.0;
32    let target_y = 200.0;
33    println!("Moving to target ({}, {})", target_x, target_y);
34   // agent.move_to_target(target_x, target_y, 50);
35
36    // 等待到达目标点
37    // loop {
38    //     let curr_pos = agent.get_position();
39    //     let dx = curr_pos[0] - target_x;
40    //     let dy = curr_pos[1] - target_y;
41    //     let distance = (dx.powi(2) + dy.powi(2)).sqrt();
42        
43    //     println!("Current position: ({:.1}, {:.1}), Distance: {:.1} points", 
44    //             curr_pos[0], curr_pos[1], distance);
45        
46    //     if distance < 10.0 {
47    //         println!("Reached target!");
48    //         break;
49    //     }
50    //     thread::sleep(Duration::from_millis(100));
51    // }
52
53    // 显示控制示例
54    agent.set_display_color(0, 255, 0); // 设置绿色
55    if let Some(_) = agent.mb_display(33554431) {
56        // 成功处理显示命令
57    }
58
59    Ok(())
60}
Source

pub fn wheels_break(&self)

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pub fn rotate_to_angle(&self, angle: i16, speed: u8)

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pub fn rotate_to_target(&self, x: i32, y: i32, speed: u8)

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pub fn move_to(&self, x: i32, y: i32, speed: u8)

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pub fn move_to_target(&self, x: i32, y: i32, speed: u8)

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pub fn power_on_module(&self)

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pub fn power_off_module(&self)

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pub fn gripper_open(&self)

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pub fn gripper_close(&self)

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pub fn gripper_degree(&self, degree: i8)

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pub fn attach_neo_pixel(&self)

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pub fn set_all_neo_pixels_color(&self, r: u8, g: u8, b: u8)

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pub fn clear_neo_pixels(&self)

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pub fn mb_display(&self, code: u32) -> Option<String>

Examples found in repository?
examples/main.rs (line 55)
5fn main() -> Result<(), Box<dyn std::error::Error>> {
6    // 初始化CoCube实例
7    let agent = CoCube::new(
8        1, 
9        "192.168.31.1", 
10        "192.168.31.31", 
11        1,    
12        6000
13    )?;
14
15    // 获取并打印位置信息
16    let pos = agent.get_position();
17    println!("Current position: x={:.2}, y={:.2}, yaw={:.2}rad", pos[0], pos[1], pos[2]);
18
19    // 基础运动控制示例
20    println!("Moving forward...");
21    agent.move_robot("forward", 40);
22    thread::sleep(Duration::from_secs(2));
23    agent.wheels_stop();
24
25    println!("Rotating left...");
26    agent.rotate_robot("left", 30);
27    thread::sleep(Duration::from_secs(2));
28    agent.wheels_stop();
29
30    // 目标点导航示例
31    let target_x = 200.0;
32    let target_y = 200.0;
33    println!("Moving to target ({}, {})", target_x, target_y);
34   // agent.move_to_target(target_x, target_y, 50);
35
36    // 等待到达目标点
37    // loop {
38    //     let curr_pos = agent.get_position();
39    //     let dx = curr_pos[0] - target_x;
40    //     let dy = curr_pos[1] - target_y;
41    //     let distance = (dx.powi(2) + dy.powi(2)).sqrt();
42        
43    //     println!("Current position: ({:.1}, {:.1}), Distance: {:.1} points", 
44    //             curr_pos[0], curr_pos[1], distance);
45        
46    //     if distance < 10.0 {
47    //         println!("Reached target!");
48    //         break;
49    //     }
50    //     thread::sleep(Duration::from_millis(100));
51    // }
52
53    // 显示控制示例
54    agent.set_display_color(0, 255, 0); // 设置绿色
55    if let Some(_) = agent.mb_display(33554431) {
56        // 成功处理显示命令
57    }
58
59    Ok(())
60}
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pub fn mb_display_off(&self) -> Option<String>

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pub fn set_display_color(&self, r: u8, g: u8, b: u8)

Examples found in repository?
examples/main.rs (line 54)
5fn main() -> Result<(), Box<dyn std::error::Error>> {
6    // 初始化CoCube实例
7    let agent = CoCube::new(
8        1, 
9        "192.168.31.1", 
10        "192.168.31.31", 
11        1,    
12        6000
13    )?;
14
15    // 获取并打印位置信息
16    let pos = agent.get_position();
17    println!("Current position: x={:.2}, y={:.2}, yaw={:.2}rad", pos[0], pos[1], pos[2]);
18
19    // 基础运动控制示例
20    println!("Moving forward...");
21    agent.move_robot("forward", 40);
22    thread::sleep(Duration::from_secs(2));
23    agent.wheels_stop();
24
25    println!("Rotating left...");
26    agent.rotate_robot("left", 30);
27    thread::sleep(Duration::from_secs(2));
28    agent.wheels_stop();
29
30    // 目标点导航示例
31    let target_x = 200.0;
32    let target_y = 200.0;
33    println!("Moving to target ({}, {})", target_x, target_y);
34   // agent.move_to_target(target_x, target_y, 50);
35
36    // 等待到达目标点
37    // loop {
38    //     let curr_pos = agent.get_position();
39    //     let dx = curr_pos[0] - target_x;
40    //     let dy = curr_pos[1] - target_y;
41    //     let distance = (dx.powi(2) + dy.powi(2)).sqrt();
42        
43    //     println!("Current position: ({:.1}, {:.1}), Distance: {:.1} points", 
44    //             curr_pos[0], curr_pos[1], distance);
45        
46    //     if distance < 10.0 {
47    //         println!("Reached target!");
48    //         break;
49    //     }
50    //     thread::sleep(Duration::from_millis(100));
51    // }
52
53    // 显示控制示例
54    agent.set_display_color(0, 255, 0); // 设置绿色
55    if let Some(_) = agent.mb_display(33554431) {
56        // 成功处理显示命令
57    }
58
59    Ok(())
60}

Trait Implementations§

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impl Clone for CoCube

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fn clone(&self) -> CoCube

Returns a duplicate of the value. Read more
1.0.0 · Source§

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for CoCube

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

Auto Trait Implementations§

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impl Freeze for CoCube

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impl RefUnwindSafe for CoCube

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impl Send for CoCube

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impl Sync for CoCube

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impl Unpin for CoCube

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impl UnwindSafe for CoCube

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
Performs copy-assignment from self to dest. Read more
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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T> Instrument for T

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fn instrument(self, span: Span) -> Instrumented<Self>

Instruments this type with the provided Span, returning an Instrumented wrapper. Read more
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fn in_current_span(self) -> Instrumented<Self>

Instruments this type with the current Span, returning an Instrumented wrapper. Read more
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impl<T, U> Into<U> for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> ToOwned for T
where T: Clone,

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type Owned = T

The resulting type after obtaining ownership.
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fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more
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fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more
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impl<T, U> TryFrom<U> for T
where U: Into<T>,

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type Error = Infallible

The type returned in the event of a conversion error.
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fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
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impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

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type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.
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fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.
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impl<T> WithSubscriber for T

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fn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self>
where S: Into<Dispatch>,

Attaches the provided Subscriber to this type, returning a WithDispatch wrapper. Read more
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fn with_current_subscriber(self) -> WithDispatch<Self>

Attaches the current default Subscriber to this type, returning a WithDispatch wrapper. Read more