Enum AxisState

#[repr(u8)]
pub enum AxisState {
    Undefined = 0,
    Idle = 1,
    StartupSequence = 2,
    FullCalibrationSequence = 3,
    MotorCalibration = 4,
    SensorlessControl = 5,
    EncoderIndexSearch = 6,
    EncoderOffsetCalibration = 7,
    ClosedLoopControl = 8,
}

State Machine

From the official docs:

The current state of an axis is indicated by <axis>.current_state. The user can request a new state by assigning a new value to <axis>.requested_state. The default state after startup is Idle.

1. Idle
2. StartupSequence
3. FullCalibrationSequence
4. MotorCalibration
5. SensorlessControl
6. EncoderIndexSearch
7. EncoderOffsetCalibration
8. ClosedLoopControl

Variants

Undefined = 0

Used for

Idle = 1

Disable motor PWM and do nothing

StartupSequence = 2

Run the startup procedure.

FullCalibrationSequence = 3

Run motor calibration and then encoder offset calibration (or encoder index search if <axis>.encoder.config.use_index is true).

MotorCalibration = 4

Measure phase resistance and phase inductance of the motor.

To store the results set <axis>.motor.config.pre_calibrated to true and save the configuration. After that you don’t have to run the motor calibration on the next start up. This modifies the variables <axis>.motor.config.phase_resistance and <axis>.motor.config.phase_inductance.

SensorlessControl = 5

Run sensorless control.

The motor must be calibrated (<axis>.motor.is_calibrated). <axis>.controller.control_mode must be true.

EncoderIndexSearch = 6

Turn the motor in one direction until the encoder index is traversed.

This state can only be entered if <axis>.encoder.config.use_index is true.

EncoderOffsetCalibration = 7

Turn the motor in one direction for a few seconds and then back to measure the offset between the encoder position and the electrical phase.

Can only be entered if the motor is calibrated (<axis>.motor.is_calibrated). A successful encoder calibration will make the <axis>.encoder.is_ready go to true.

ClosedLoopControl = 8

Run closed loop control.

The action depends on the control mode. Can only be entered if the motor is calibrated (<axis>.motor.is_calibrated) and the encoder is ready (<axis>.encoder.is_ready).

Trait Implementations

impl Clone for AxisState

fn clone(&self) -> AxisState

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for AxisState

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

Formats the value using the given formatter.

impl Ord for AxisState

fn cmp(&self, other: &AxisState) -> Ordering

This method returns an Ordering between self and other.

fn max(self, other: Self) -> Self

where Self: Sized,

Compares and returns the maximum of two values.

fn min(self, other: Self) -> Self

where Self: Sized,

Compares and returns the minimum of two values.

fn clamp(self, min: Self, max: Self) -> Self

where Self: Sized,

Restrict a value to a certain interval.

impl PartialEq for AxisState

fn eq(&self, other: &AxisState) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl PartialOrd for AxisState

fn partial_cmp(&self, other: &AxisState) -> Option<Ordering>

This method returns an ordering between self and other values if one exists.

fn lt(&self, other: &Rhs) -> bool

Tests less than (for self and other) and is used by the < operator.

fn le(&self, other: &Rhs) -> bool

Tests less than or equal to (for self and other) and is used by the <= operator.

fn gt(&self, other: &Rhs) -> bool

Tests greater than (for self and other) and is used by the > operator.

fn ge(&self, other: &Rhs) -> bool

Tests greater than or equal to (for self and other) and is used by the >= operator.

impl Copy for AxisState

impl Eq for AxisState

impl StructuralPartialEq for AxisState