Struct drs_0x01::prelude::Servo

pub struct Servo { /* fields omitted */ }

This struct allows you to quickly build messages for a servomotor.

Methods

impl Servo

pub fn new(id: u8) -> Servo

Create a new Servo with the given ID.

Notes

• Valid ID are in the range 0..253.
• 254 is the broadcast ID.

pub fn set_id(&mut self, id: u8)

Change the servo ID.

pub fn id(&self) -> u8

Return the servo ID.

pub fn reboot(&self) -> HerkulexMessage

Create a reboot message requesting the servo to reboot. During the reboot all changes applied to the EEP memory will take effect.

pub fn set_position(&self, position: u16) -> HerkulexMessage

Request the servo to go to a position.

pub fn set_speed(&self, speed: u16) -> HerkulexMessage

Request the servo to have a certain speed.

pub fn stat(&self) -> HerkulexMessage

Request the servo to send it's status.

pub fn ram_write(&self, addr: WritableRamAddr) -> HerkulexMessage

Write to the volatile RAM of the servo. Ram is cleared on every reboot, and populated with data from the EEP memory.

pub fn eep_write(&self, addr: WritableEEPAddr) -> HerkulexMessage

Write to the permanent EEP memory. For the change to take effect you need to reboot the servo so that the values are loaded in RAM.

pub fn ram_request(&self, addr: ReadableRamAddr) -> HerkulexMessage

Request the servo to send back some data from RAM.

pub fn eep_request(&self, addr: ReadableEEPAddr) -> HerkulexMessage

Request the servo to send back some data from EEP.

pub fn enable_torque(&self) -> HerkulexMessage

Request the servo to enable torque.

pub fn disable_torque(&self) -> HerkulexMessage

Request the servo to disable torque.

pub fn clear_errors(&self) -> HerkulexMessage

Clear the error register of the servo.

Trait Implementations

impl Copy for Servo

impl Clone for Servo

fn clone(&self) -> Servo

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Servo

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

Formats the value using the given formatter.

impl Default for Servo

fn default() -> Self

Returns the "default value" for a type.