Struct dynamixel2::instructions::SyncWrite

pub struct SyncWrite<'a> {
    pub motor_ids: &'a [u8],
    pub address: u16,
    // some fields omitted
}

Perform a sync write using a supplied buffer.

Fields

motor_ids: &'a [u8]

The motors to write to.

address: u16

The address to write to.

Implementations

impl<'a> SyncWrite<'a>

pub fn new(motor_ids: &'a [u8], address: u16, buffer: &'a [u8]) -> Self

Create a new SyncWrite instruction to write data to a list motors.

To write 12 bytes from 3 motors, you must supply a buffer of 36 bytes.

Panic

Panics if the buffer size is not a multiple of the number of motors.

pub fn buffer(&self) -> &[u8]

Get a non-mutable reference to the write buffer.

pub fn length(&self) -> usize

The number of bytes to write to each motor.

Trait Implementations

impl<'a> Debug for SyncWrite<'a>

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

Formats the value using the given formatter.

impl<'_> Instruction for SyncWrite<'_>

type Response = u8

The response type.

fn request_packet_id(&self) -> u8

The packet ID.

fn request_instruction_id(&self) -> u8

The instruction ID for the request.

fn request_parameters_len(&self) -> u16

The amount of parameter bytes before bitstuffing.

fn encode_request_parameters(&self, buffer: &mut [u8])

Encode the request parameters to the target buffer.

fn decode_response_parameters(
    &mut self,
    packet_id: u8,
    parameters: &[u8]
) -> Result<Self::Response, InvalidMessage>

Decode the response from the parameters.