Enum drs_0x01::WritableRamAddr

pub enum WritableRamAddr {
    ID(u8),
    AckPolicy(u8),
    AlarmLEDPolicy(u8),
    TorquePolicy(u8),
    MaxTemperature(u8),
    MinVoltage(u8),
    MaxVoltage(u8),
    AccelerationRatio(u8),
    MaxAcceleration(u8),
    DeadZone(u8),
    SaturatorOffset(u8),
    SaturatorSlope(u8, u8),
    PWMOffset(u8),
    MinPWM(u8),
    MaxPWM(u8, u8),
    OverloadPWMThreshold(u8, u8),
    MinPosition(u8, u8),
    MaxPosition(u8, u8),
    PositionKp(u8, u8),
    PositionKd(u8, u8),
    PositionKi(u8, u8),
    PositionFFFirstGain(u8, u8),
    PositionFFSecondGain(u8, u8),
    LedBlinkPeriod(u8),
    ADCFaultDetectionPeriod(u8),
    PacketGarbageDetectionPeriod(u8),
    StopDetectionPeriod(u8),
    OverloadDetectionPeriod(u8),
    StopThreshold(u8),
    InpositionMargin(u8),
    CalibrationDifference(u8),
    StatusError(u8),
    StatusDetail(u8),
    TorqueControl(u8),
    LEDControl(u8),
}

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

Variants

ID(u8)

Servo ID

AckPolicy(u8)

TODO : Refer to pg 33

AlarmLEDPolicy(u8)

Activates LED according to Policy

TorquePolicy(u8)

Releases Torque accroding to Policy

MaxTemperature(u8)

Maximum allowed temperature (0xDF = 85°C)

MinVoltage(u8)

Minimum allowed voltage (0x5B = 6.714 VDC)

MaxVoltage(u8)

Maximum allowed voltage (0x89 = 10 VDC)

AccelerationRatio(u8)

Ratio of time to reach goal position to acceleration or deceleration

MaxAcceleration(u8)

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

DeadZone(u8)

Outside controle range

SaturatorOffset(u8)

TODO : Refer to datasheet page 36

SaturatorSlope(u8, u8)

TODO : Refer to datasheet page 36

PWMOffset(u8)

PWM Offset value, refer to datasheet page 37

MinPWM(u8)

Set minimum PWM value, refer to the datasheet page 37

MaxPWM(u8, u8)

Set maximum PWM value, refer to the datasheet page 37

OverloadPWMThreshold(u8, u8)

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

MinPosition(u8, u8)

Minimum position value (between 0 and 1023)

MaxPosition(u8, u8)

Maximum position value (between 0 and 1023)

PositionKp(u8, u8)

Proportional gain

PositionKd(u8, u8)

Derivative gain

PositionKi(u8, u8)

Integral gain

PositionFFFirstGain(u8, u8)

Refer to the datasheet page 35

PositionFFSecondGain(u8, u8)

Refer to the datasheet page 35

LedBlinkPeriod(u8)

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

ADCFaultDetectionPeriod(u8)

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

PacketGarbageDetectionPeriod(u8)

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

StopDetectionPeriod(u8)

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

OverloadDetectionPeriod(u8)

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

StopThreshold(u8)

Stop Threshold

InpositionMargin(u8)

Offset Threshold

CalibrationDifference(u8)

Servo compensation

StatusError(u8)

Refer to datasheet page 39

StatusDetail(u8)

Refer to datasheet page 39

TorqueControl(u8)

Torque enable states (refer to datasheet page 28)

LEDControl(u8)

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

Methods

impl WritableRamAddr

pub fn bytes(&self) -> u8

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

Trait Implementations

impl Clone for WritableRamAddr

fn clone(&self) -> WritableRamAddr

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for WritableRamAddr

impl Debug for WritableRamAddr

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

Formats the value using the given formatter.

impl From<WritableRamAddr> for u8

fn from(addr: WritableRamAddr) -> Self

Performs the conversion.