Enum drs_0x01::ReadableRamAddr

pub enum ReadableRamAddr {
    ID,
    AckPolicy,
    AlarmLEDPolicy,
    TorquePolicy,
    MaxTemperature,
    MinVoltage,
    MaxVoltage,
    AccelerationRatio,
    MaxAcceleration,
    DeadZone,
    SaturatorOffset,
    SaturatorSlope,
    PWMOffset,
    MinPWM,
    MaxPWM,
    OverloadPWMThreshold,
    MinPosition,
    MaxPosition,
    PositionKp,
    PositionKd,
    PositionKi,
    PositionFFFirstGain,
    PositionFFSecondGain,
    LedBlinkPeriod,
    ADCFaultDetectionPeriod,
    PacketGarbageDetectionPeriod,
    StopDetectionPeriod,
    OverloadDetectionPeriod,
    StopThreshold,
    InpositionMargin,
    CalibrationDifference,
    StatusError,
    StatusDetail,
    TorqueControl,
    LEDControl,
    Voltage,
    Temperature,
    CurrentControlMode,
    Tick,
    CalibratedPosition,
    AbsolutePosition,
    DifferentialPosition,
    PWM,
    AbsoluteGoalPosition,
    AbsoluteDesiredTrajectoryPosition,
    DesiredVelocity,
}

This enum represent all the RAM (volatile) memory adresses which can be read. I comes from the page 24 of the datasheet.

Variants

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

MaxAcceleration

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)

ADCFaultDetectionPeriod

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

StatusError

Refer to datasheet page 39

StatusDetail

Refer to datasheet page 39

TorqueControl

Torque enable states (refer to datasheet page 28)

LEDControl

0x01 : Green, 0x02 : Blue, 0x04 : Red

Voltage

Input voltage raw data 8bit (refer to datasheet page 31)

Temperature

Current temperature data 8bit (refer to datasheet page 31)

CurrentControlMode

0 : Position control 1 : Turn/Velocity control

Tick

11.2ms/tick

CalibratedPosition

Calibrated current position raw data, 10 bit.

AbsolutePosition

Uncalibrated absolute position raw data.

DifferentialPosition

Position change/11.2ms

PWM

Torque raw data

AbsoluteGoalPosition

Uncalibrated goal position raw data

AbsoluteDesiredTrajectoryPosition

Current intermediate goal position in trajectory

DesiredVelocity

Desired speed based on speed profile raw data

Methods

impl ReadableRamAddr

pub fn bytes(&self) -> u8

Return the size in bytes of the value stocked at this address

Trait Implementations

impl Clone for ReadableRamAddr

fn clone(&self) -> ReadableRamAddr

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for ReadableRamAddr

impl Debug for ReadableRamAddr

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

Formats the value using the given formatter.

impl From<ReadableRamAddr> for u8

fn from(addr: ReadableRamAddr) -> Self

Performs the conversion.