pflex_module_rs/
structs.rs

1use crate::pflex::PFlexRobot;
2
3/// Cartesian coordinates for a waypoint including optional rail position
4#[derive(Debug, Clone, PartialEq)]
5pub struct Waypoint {
6    pub id: i32,
7    pub x_mm: f64,
8    pub y_mm: f64,
9    pub z_mm: f64,
10    pub orientation_deg: f64,
11    pub rail_position_mm: Option<f64>,
12}
13
14impl Waypoint {
15    pub fn new(
16        id: i32,
17        x_mm: f64,
18        y_mm: f64,
19        z_mm: f64,
20        orientation_deg: f64,
21        rail_position_mm: Option<f64>,
22    ) -> Self {
23        Waypoint {
24            id,
25            x_mm,
26            y_mm,
27            z_mm,
28            orientation_deg,
29            rail_position_mm,
30        }
31    }
32
33    /// Converts the Waypoint struct to a Vec\<String\> payload for use with the TCSClient
34    pub fn to_payload(&self) -> Vec<String> {
35        vec![
36            self.id.to_string(),
37            self.x_mm.to_string(),
38            self.y_mm.to_string(),
39            self.z_mm.to_string(),
40            self.orientation_deg.to_string(),
41            PFlexRobot::DEFAULT_EE_PITCH.to_string(),
42            PFlexRobot::DEFAULT_EE_ROLL.to_string(),
43        ]
44    }
45}
46
47/// Motion profile settings for the robot
48#[derive(Debug, Clone, PartialEq)]
49pub struct MotionProfile {
50    pub id: i32,
51    pub max_speed_percent: f64,  // Default: 50.0
52    pub max_accel_percent: f64,  // Default: 50.0
53    pub max_decel_percent: f64,  // Default: 50.0
54    pub accel_ramp_seconds: f64, // Default: 0.1
55    pub decel_ramp_seconds: f64, // Default: 0.1
56    pub in_range: f64,           // Default: 10.0
57    pub straight_line: i32,      // Default: 0 (False)
58}
59
60impl MotionProfile {
61    pub fn default(id: i32) -> Self {
62        MotionProfile {
63            id,
64            max_speed_percent: 50.0,
65            max_accel_percent: 50.0,
66            max_decel_percent: 50.0,
67            accel_ramp_seconds: 0.1,
68            decel_ramp_seconds: 0.1,
69            in_range: 10.0,
70            straight_line: 0,
71        }
72    }
73
74    /// Converts the MotionProfile struct to a Vec\<String\> payload for use with the TCSClient
75    pub fn to_payload(&self) -> Vec<String> {
76        vec![
77            self.id.to_string(),
78            self.max_speed_percent.to_string(),
79            "0".to_string(),
80            self.max_accel_percent.to_string(),
81            self.max_decel_percent.to_string(),
82            self.accel_ramp_seconds.to_string(),
83            self.decel_ramp_seconds.to_string(),
84            self.in_range.to_string(),
85            self.straight_line.to_string(),
86        ]
87    }
88}
89
90/// End effector position for the robot
91#[derive(Debug)]
92pub struct EndEffectorPosition {
93    pub yaw_mm: f64,
94    pub pitch_mm: f64,
95    pub roll_mm: f64,
96    pub x_mm: f64,
97    pub y_mm: f64,
98    pub z_mm: f64,
99}
100
101impl EndEffectorPosition {
102    /// Converts the EndEffectorPosition struct to a Vec\<String\> payload for use with the TCSClient
103    pub fn to_payload(&self) -> Vec<String> {
104        vec![
105            self.x_mm.to_string(),
106            self.y_mm.to_string(),
107            self.z_mm.to_string(),
108            self.yaw_mm.to_string(),
109            self.pitch_mm.to_string(),
110            self.roll_mm.to_string(),
111        ]
112    }
113}
pflex_module_rs/structs.rs

pflex_module_rs/
structs.rs
