Enum drs_0x01::ReadableEEPAddr

pub enum ReadableEEPAddr {
    ModelNo1,
    ModelNo2,
    Version1,
    Version2,
    BaudRate,
    ID,
    AckPolicy,
    AlarmLEDPolicy,
    TorquePolicy,
    MaxTemperature,
    MinVoltage,
    MaxVoltage,
    AccelerationRatio,
    MaxAccelerationTime,
    DeadZone,
    SaturatorOffset,
    SaturatorSlope,
    PWMOffset,
    MinPWM,
    MaxPWM,
    OverloadPWMThreshold,
    MinPosition,
    MaxPosition,
    PositionKp,
    PositionKd,
    PositionKi,
    PositionFFFirstGain,
    PositionFFSecondGain,
    LedBlinkPeriod,
    ADCFaultCheckPeriod,
    PacketGarbageDetectionPeriod,
    StopDetectionPeriod,
    OverloadDetectionPeriod,
    StopThreshold,
    InpositionMargin,
    CalibrationDifference,
}

This enum represent all the EPP (permanent) memory addresses which can be read. I comes from the page 21 of the datasheet.

Variants

ModelNo1

DRS model number first byte

ModelNo2

DRS model number second byte

Version1

Firmware version first byte

Version2

Firmware version second byte

BaudRate

Communication speed

ID

Servo ID

AckPolicy

TODO : Refer to pg 33

AlarmLEDPolicy

Activates LED according to Policy

TorquePolicy

Releases Torque accroding to Policy

MaxTemperature

Maximum allowed temperature (0xDF = 85°C)

MinVoltage

Minimum allowed voltage (0x5B = 6.714 VDC)

MaxVoltage

Maximum allowed voltage (0x89 = 10 VDC)

AccelerationRatio

Ratio of time to reach goal position to acceleration or deceleration

MaxAccelerationTime

Max acceleration time, 11.2ms interval. Acceleration(0x2D : 504 ms)

DeadZone

Outside controle range

SaturatorOffset

TODO : Refer to datasheet page 36

SaturatorSlope

TODO : Refer to datasheet page 36

PWMOffset

PWM Offset value, refer to datasheet page 37

MinPWM

Set minimum PWM value, refer to the datasheet page 37

MaxPWM

Set maximum PWM value, refer to the datasheet page 37

OverloadPWMThreshold

Set PWM Overload thershold range, refer to the datasheet page 34

MinPosition

Minimum position value (between 0 and 1023)

MaxPosition

Maximum position value (between 0 and 1023)

PositionKp

Proportional gain

PositionKd

Derivative gain

PositionKi

Integral gain

PositionFFFirstGain

Refer to the datasheet page 35

PositionFFSecondGain

Refer to the datasheet page 35

LedBlinkPeriod

Alarm LED blink period according to Policy 11.2ms/Tick (0x2D : 504 ms)

ADCFaultCheckPeriod

Temp/Voltage error check interval. 11.2ms/tick (0x2D : 504 ms)

PacketGarbageDetectionPeriod

Packet error check interval. 11.2ms/tick (0x12 : 201 ms)

StopDetectionPeriod

Stop detection check interval. 11.2ms/tick (0x1B : 302 ms)

OverloadDetectionPeriod

Overload check interbal. 11.2ms/tick (0x96 : 1.68 s)

StopThreshold

Stop Threshold

InpositionMargin

Offset Threshold

CalibrationDifference

Servo compensation

Methods

impl ReadableEEPAddr

pub fn bytes(&self) -> u8

Return the number of bytes associated with an address

Trait Implementations

impl Clone for ReadableEEPAddr

fn clone(&self) -> ReadableEEPAddr

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for ReadableEEPAddr

impl Debug for ReadableEEPAddr

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

Formats the value using the given formatter.

impl From<ReadableEEPAddr> for u8

fn from(me: ReadableEEPAddr) -> Self

Performs the conversion.