Struct CurrentCommand 

#[non_exhaustive]
pub struct CurrentCommand {
    pub d_a: f32,
    pub q_a: f32,
}

DQ-axis current command.

Examples

use moteus_protocol::CanFdFrame;
use moteus_protocol::command::{CurrentCommand, CurrentFormat};

let mut frame = CanFdFrame::new();
let cmd = CurrentCommand::new()
    .d_current(0.0)
    .q_current(0.5);
cmd.serialize(&mut frame, &CurrentFormat::default());

Fields (Non-exhaustive)

Non-exhaustive structs could have additional fields added in future. Therefore, non-exhaustive structs cannot be constructed in external crates using the traditional Struct { .. } syntax; cannot be matched against without a wildcard ..; and struct update syntax will not work.

d_a: f32

D-axis current in Amps

q_a: f32

Q-axis current in Amps

Implementations

impl CurrentCommand

pub fn new() -> Self

Creates a new current command with default values (0, 0).

pub fn d_current(self, v: f32) -> Self

Sets the D-axis current in Amps.

pub fn q_current(self, v: f32) -> Self

Sets the Q-axis current in Amps (torque-producing).

pub fn serialize(&self, frame: &mut CanFdFrame, format: &CurrentFormat)

Serializes this command to a CAN frame.

Trait Implementations

impl Clone for CurrentCommand

fn clone(&self) -> CurrentCommand

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for CurrentCommand

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

Formats the value using the given formatter.

impl Default for CurrentCommand

fn default() -> Self

Returns the “default value” for a type.