use crate::{
byte_converter::*, converting_callback_receiver::ConvertingCallbackReceiver, converting_receiver::ConvertingReceiver, device::*,
ip_connection::GetRequestSender,
};
pub enum ServoV2BrickletFunction {
GetStatus,
SetEnable,
GetEnabled,
SetPosition,
GetPosition,
GetCurrentPosition,
GetCurrentVelocity,
SetMotionConfiguration,
GetMotionConfiguration,
SetPulseWidth,
GetPulseWidth,
SetDegree,
GetDegree,
SetPeriod,
GetPeriod,
GetServoCurrent,
SetServoCurrentConfiguration,
GetServoCurrentConfiguration,
SetInputVoltageConfiguration,
GetInputVoltageConfiguration,
GetOverallCurrent,
GetInputVoltage,
SetCurrentCalibration,
GetCurrentCalibration,
SetPositionReachedCallbackConfiguration,
GetPositionReachedCallbackConfiguration,
GetSpitfpErrorCount,
SetBootloaderMode,
GetBootloaderMode,
SetWriteFirmwarePointer,
WriteFirmware,
SetStatusLedConfig,
GetStatusLedConfig,
GetChipTemperature,
Reset,
WriteUid,
ReadUid,
GetIdentity,
CallbackPositionReached,
}
impl From<ServoV2BrickletFunction> for u8 {
fn from(fun: ServoV2BrickletFunction) -> Self {
match fun {
ServoV2BrickletFunction::GetStatus => 1,
ServoV2BrickletFunction::SetEnable => 2,
ServoV2BrickletFunction::GetEnabled => 3,
ServoV2BrickletFunction::SetPosition => 4,
ServoV2BrickletFunction::GetPosition => 5,
ServoV2BrickletFunction::GetCurrentPosition => 6,
ServoV2BrickletFunction::GetCurrentVelocity => 7,
ServoV2BrickletFunction::SetMotionConfiguration => 8,
ServoV2BrickletFunction::GetMotionConfiguration => 9,
ServoV2BrickletFunction::SetPulseWidth => 10,
ServoV2BrickletFunction::GetPulseWidth => 11,
ServoV2BrickletFunction::SetDegree => 12,
ServoV2BrickletFunction::GetDegree => 13,
ServoV2BrickletFunction::SetPeriod => 14,
ServoV2BrickletFunction::GetPeriod => 15,
ServoV2BrickletFunction::GetServoCurrent => 16,
ServoV2BrickletFunction::SetServoCurrentConfiguration => 17,
ServoV2BrickletFunction::GetServoCurrentConfiguration => 18,
ServoV2BrickletFunction::SetInputVoltageConfiguration => 19,
ServoV2BrickletFunction::GetInputVoltageConfiguration => 20,
ServoV2BrickletFunction::GetOverallCurrent => 21,
ServoV2BrickletFunction::GetInputVoltage => 22,
ServoV2BrickletFunction::SetCurrentCalibration => 23,
ServoV2BrickletFunction::GetCurrentCalibration => 24,
ServoV2BrickletFunction::SetPositionReachedCallbackConfiguration => 25,
ServoV2BrickletFunction::GetPositionReachedCallbackConfiguration => 26,
ServoV2BrickletFunction::GetSpitfpErrorCount => 234,
ServoV2BrickletFunction::SetBootloaderMode => 235,
ServoV2BrickletFunction::GetBootloaderMode => 236,
ServoV2BrickletFunction::SetWriteFirmwarePointer => 237,
ServoV2BrickletFunction::WriteFirmware => 238,
ServoV2BrickletFunction::SetStatusLedConfig => 239,
ServoV2BrickletFunction::GetStatusLedConfig => 240,
ServoV2BrickletFunction::GetChipTemperature => 242,
ServoV2BrickletFunction::Reset => 243,
ServoV2BrickletFunction::WriteUid => 248,
ServoV2BrickletFunction::ReadUid => 249,
ServoV2BrickletFunction::GetIdentity => 255,
ServoV2BrickletFunction::CallbackPositionReached => 27,
}
}
}
pub const SERVO_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER: u8 = 0;
pub const SERVO_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE: u8 = 1;
pub const SERVO_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT: u8 = 2;
pub const SERVO_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT: u8 = 3;
pub const SERVO_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT: u8 = 4;
pub const SERVO_V2_BRICKLET_BOOTLOADER_STATUS_OK: u8 = 0;
pub const SERVO_V2_BRICKLET_BOOTLOADER_STATUS_INVALID_MODE: u8 = 1;
pub const SERVO_V2_BRICKLET_BOOTLOADER_STATUS_NO_CHANGE: u8 = 2;
pub const SERVO_V2_BRICKLET_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT: u8 = 3;
pub const SERVO_V2_BRICKLET_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT: u8 = 4;
pub const SERVO_V2_BRICKLET_BOOTLOADER_STATUS_CRC_MISMATCH: u8 = 5;
pub const SERVO_V2_BRICKLET_STATUS_LED_CONFIG_OFF: u8 = 0;
pub const SERVO_V2_BRICKLET_STATUS_LED_CONFIG_ON: u8 = 1;
pub const SERVO_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT: u8 = 2;
pub const SERVO_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS: u8 = 3;
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct Status {
pub enabled: [bool; 10],
pub current_position: [i16; 10],
pub current_velocity: [i16; 10],
pub current: [u16; 10],
pub input_voltage: u16,
}
impl FromByteSlice for Status {
fn bytes_expected() -> usize { 64 }
fn from_le_byte_slice(bytes: &[u8]) -> Status {
Status {
enabled: <[bool; 10]>::from_le_byte_slice(&bytes[0..2]),
current_position: <[i16; 10]>::from_le_byte_slice(&bytes[2..22]),
current_velocity: <[i16; 10]>::from_le_byte_slice(&bytes[22..42]),
current: <[u16; 10]>::from_le_byte_slice(&bytes[42..62]),
input_voltage: <u16>::from_le_byte_slice(&bytes[62..64]),
}
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct MotionConfiguration {
pub velocity: u32,
pub acceleration: u32,
pub deceleration: u32,
}
impl FromByteSlice for MotionConfiguration {
fn bytes_expected() -> usize { 12 }
fn from_le_byte_slice(bytes: &[u8]) -> MotionConfiguration {
MotionConfiguration {
velocity: <u32>::from_le_byte_slice(&bytes[0..4]),
acceleration: <u32>::from_le_byte_slice(&bytes[4..8]),
deceleration: <u32>::from_le_byte_slice(&bytes[8..12]),
}
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct PulseWidth {
pub min: u32,
pub max: u32,
}
impl FromByteSlice for PulseWidth {
fn bytes_expected() -> usize { 8 }
fn from_le_byte_slice(bytes: &[u8]) -> PulseWidth {
PulseWidth { min: <u32>::from_le_byte_slice(&bytes[0..4]), max: <u32>::from_le_byte_slice(&bytes[4..8]) }
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct Degree {
pub min: i16,
pub max: i16,
}
impl FromByteSlice for Degree {
fn bytes_expected() -> usize { 4 }
fn from_le_byte_slice(bytes: &[u8]) -> Degree {
Degree { min: <i16>::from_le_byte_slice(&bytes[0..2]), max: <i16>::from_le_byte_slice(&bytes[2..4]) }
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct PositionReachedEvent {
pub servo_channel: u16,
pub position: i16,
}
impl FromByteSlice for PositionReachedEvent {
fn bytes_expected() -> usize { 4 }
fn from_le_byte_slice(bytes: &[u8]) -> PositionReachedEvent {
PositionReachedEvent { servo_channel: <u16>::from_le_byte_slice(&bytes[0..2]), position: <i16>::from_le_byte_slice(&bytes[2..4]) }
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct SpitfpErrorCount {
pub error_count_ack_checksum: u32,
pub error_count_message_checksum: u32,
pub error_count_frame: u32,
pub error_count_overflow: u32,
}
impl FromByteSlice for SpitfpErrorCount {
fn bytes_expected() -> usize { 16 }
fn from_le_byte_slice(bytes: &[u8]) -> SpitfpErrorCount {
SpitfpErrorCount {
error_count_ack_checksum: <u32>::from_le_byte_slice(&bytes[0..4]),
error_count_message_checksum: <u32>::from_le_byte_slice(&bytes[4..8]),
error_count_frame: <u32>::from_le_byte_slice(&bytes[8..12]),
error_count_overflow: <u32>::from_le_byte_slice(&bytes[12..16]),
}
}
}
#[derive(Clone, Debug, Default, PartialEq, Eq, Hash)]
pub struct Identity {
pub uid: String,
pub connected_uid: String,
pub position: char,
pub hardware_version: [u8; 3],
pub firmware_version: [u8; 3],
pub device_identifier: u16,
}
impl FromByteSlice for Identity {
fn bytes_expected() -> usize { 25 }
fn from_le_byte_slice(bytes: &[u8]) -> Identity {
Identity {
uid: <String>::from_le_byte_slice(&bytes[0..8]),
connected_uid: <String>::from_le_byte_slice(&bytes[8..16]),
position: <char>::from_le_byte_slice(&bytes[16..17]),
hardware_version: <[u8; 3]>::from_le_byte_slice(&bytes[17..20]),
firmware_version: <[u8; 3]>::from_le_byte_slice(&bytes[20..23]),
device_identifier: <u16>::from_le_byte_slice(&bytes[23..25]),
}
}
}
#[derive(Clone)]
pub struct ServoV2Bricklet {
device: Device,
}
impl ServoV2Bricklet {
pub const DEVICE_IDENTIFIER: u16 = 2157;
pub const DEVICE_DISPLAY_NAME: &'static str = "Servo Bricklet 2.0";
pub fn new<T: GetRequestSender>(uid: &str, req_sender: T) -> ServoV2Bricklet {
let mut result = ServoV2Bricklet { device: Device::new([2, 0, 0], uid, req_sender, 0) };
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetStatus) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::SetEnable) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetEnabled) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::SetPosition) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetPosition) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetCurrentPosition) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetCurrentVelocity) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::SetMotionConfiguration) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetMotionConfiguration) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::SetPulseWidth) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetPulseWidth) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::SetDegree) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetDegree) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::SetPeriod) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetPeriod) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetServoCurrent) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::SetServoCurrentConfiguration) as usize] =
ResponseExpectedFlag::False;
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetServoCurrentConfiguration) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::SetInputVoltageConfiguration) as usize] =
ResponseExpectedFlag::False;
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetInputVoltageConfiguration) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetOverallCurrent) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetInputVoltage) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::SetCurrentCalibration) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetCurrentCalibration) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::SetPositionReachedCallbackConfiguration) as usize] =
ResponseExpectedFlag::True;
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetPositionReachedCallbackConfiguration) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetSpitfpErrorCount) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::SetBootloaderMode) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetBootloaderMode) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::SetWriteFirmwarePointer) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(ServoV2BrickletFunction::WriteFirmware) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::SetStatusLedConfig) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetStatusLedConfig) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetChipTemperature) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::Reset) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(ServoV2BrickletFunction::WriteUid) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(ServoV2BrickletFunction::ReadUid) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(ServoV2BrickletFunction::GetIdentity) as usize] = ResponseExpectedFlag::AlwaysTrue;
result
}
pub fn get_response_expected(&mut self, fun: ServoV2BrickletFunction) -> Result<bool, GetResponseExpectedError> {
self.device.get_response_expected(u8::from(fun))
}
pub fn set_response_expected(&mut self, fun: ServoV2BrickletFunction, response_expected: bool) -> Result<(), SetResponseExpectedError> {
self.device.set_response_expected(u8::from(fun), response_expected)
}
pub fn set_response_expected_all(&mut self, response_expected: bool) { self.device.set_response_expected_all(response_expected) }
pub fn get_api_version(&self) -> [u8; 3] { self.device.api_version }
pub fn get_position_reached_callback_receiver(&self) -> ConvertingCallbackReceiver<PositionReachedEvent> {
self.device.get_callback_receiver(u8::from(ServoV2BrickletFunction::CallbackPositionReached))
}
pub fn get_status(&self) -> ConvertingReceiver<Status> {
let payload = vec![0; 0];
self.device.get(u8::from(ServoV2BrickletFunction::GetStatus), payload)
}
pub fn set_enable(&self, servo_channel: u16, enable: bool) -> ConvertingReceiver<()> {
let mut payload = vec![0; 3];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(servo_channel));
payload[2..3].copy_from_slice(&<bool>::to_le_byte_vec(enable));
self.device.set(u8::from(ServoV2BrickletFunction::SetEnable), payload)
}
pub fn get_enabled(&self, servo_channel: u16) -> ConvertingReceiver<bool> {
let mut payload = vec![0; 2];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(servo_channel));
self.device.get(u8::from(ServoV2BrickletFunction::GetEnabled), payload)
}
pub fn set_position(&self, servo_channel: u16, position: i16) -> ConvertingReceiver<()> {
let mut payload = vec![0; 4];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(servo_channel));
payload[2..4].copy_from_slice(&<i16>::to_le_byte_vec(position));
self.device.set(u8::from(ServoV2BrickletFunction::SetPosition), payload)
}
pub fn get_position(&self, servo_channel: u16) -> ConvertingReceiver<i16> {
let mut payload = vec![0; 2];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(servo_channel));
self.device.get(u8::from(ServoV2BrickletFunction::GetPosition), payload)
}
pub fn get_current_position(&self, servo_channel: u16) -> ConvertingReceiver<i16> {
let mut payload = vec![0; 2];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(servo_channel));
self.device.get(u8::from(ServoV2BrickletFunction::GetCurrentPosition), payload)
}
pub fn get_current_velocity(&self, servo_channel: u16) -> ConvertingReceiver<u16> {
let mut payload = vec![0; 2];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(servo_channel));
self.device.get(u8::from(ServoV2BrickletFunction::GetCurrentVelocity), payload)
}
pub fn set_motion_configuration(
&self,
servo_channel: u16,
velocity: u32,
acceleration: u32,
deceleration: u32,
) -> ConvertingReceiver<()> {
let mut payload = vec![0; 14];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(servo_channel));
payload[2..6].copy_from_slice(&<u32>::to_le_byte_vec(velocity));
payload[6..10].copy_from_slice(&<u32>::to_le_byte_vec(acceleration));
payload[10..14].copy_from_slice(&<u32>::to_le_byte_vec(deceleration));
self.device.set(u8::from(ServoV2BrickletFunction::SetMotionConfiguration), payload)
}
pub fn get_motion_configuration(&self, servo_channel: u16) -> ConvertingReceiver<MotionConfiguration> {
let mut payload = vec![0; 2];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(servo_channel));
self.device.get(u8::from(ServoV2BrickletFunction::GetMotionConfiguration), payload)
}
pub fn set_pulse_width(&self, servo_channel: u16, min: u32, max: u32) -> ConvertingReceiver<()> {
let mut payload = vec![0; 10];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(servo_channel));
payload[2..6].copy_from_slice(&<u32>::to_le_byte_vec(min));
payload[6..10].copy_from_slice(&<u32>::to_le_byte_vec(max));
self.device.set(u8::from(ServoV2BrickletFunction::SetPulseWidth), payload)
}
pub fn get_pulse_width(&self, servo_channel: u16) -> ConvertingReceiver<PulseWidth> {
let mut payload = vec![0; 2];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(servo_channel));
self.device.get(u8::from(ServoV2BrickletFunction::GetPulseWidth), payload)
}
pub fn set_degree(&self, servo_channel: u16, min: i16, max: i16) -> ConvertingReceiver<()> {
let mut payload = vec![0; 6];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(servo_channel));
payload[2..4].copy_from_slice(&<i16>::to_le_byte_vec(min));
payload[4..6].copy_from_slice(&<i16>::to_le_byte_vec(max));
self.device.set(u8::from(ServoV2BrickletFunction::SetDegree), payload)
}
pub fn get_degree(&self, servo_channel: u16) -> ConvertingReceiver<Degree> {
let mut payload = vec![0; 2];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(servo_channel));
self.device.get(u8::from(ServoV2BrickletFunction::GetDegree), payload)
}
pub fn set_period(&self, servo_channel: u16, period: u32) -> ConvertingReceiver<()> {
let mut payload = vec![0; 6];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(servo_channel));
payload[2..6].copy_from_slice(&<u32>::to_le_byte_vec(period));
self.device.set(u8::from(ServoV2BrickletFunction::SetPeriod), payload)
}
pub fn get_period(&self, servo_channel: u16) -> ConvertingReceiver<u32> {
let mut payload = vec![0; 2];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(servo_channel));
self.device.get(u8::from(ServoV2BrickletFunction::GetPeriod), payload)
}
pub fn get_servo_current(&self, servo_channel: u16) -> ConvertingReceiver<u16> {
let mut payload = vec![0; 2];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(servo_channel));
self.device.get(u8::from(ServoV2BrickletFunction::GetServoCurrent), payload)
}
pub fn set_servo_current_configuration(&self, servo_channel: u16, averaging_duration: u8) -> ConvertingReceiver<()> {
let mut payload = vec![0; 3];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(servo_channel));
payload[2..3].copy_from_slice(&<u8>::to_le_byte_vec(averaging_duration));
self.device.set(u8::from(ServoV2BrickletFunction::SetServoCurrentConfiguration), payload)
}
pub fn get_servo_current_configuration(&self, servo_channel: u16) -> ConvertingReceiver<u8> {
let mut payload = vec![0; 2];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(servo_channel));
self.device.get(u8::from(ServoV2BrickletFunction::GetServoCurrentConfiguration), payload)
}
pub fn set_input_voltage_configuration(&self, averaging_duration: u8) -> ConvertingReceiver<()> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<u8>::to_le_byte_vec(averaging_duration));
self.device.set(u8::from(ServoV2BrickletFunction::SetInputVoltageConfiguration), payload)
}
pub fn get_input_voltage_configuration(&self) -> ConvertingReceiver<u8> {
let payload = vec![0; 0];
self.device.get(u8::from(ServoV2BrickletFunction::GetInputVoltageConfiguration), payload)
}
pub fn get_overall_current(&self) -> ConvertingReceiver<u16> {
let payload = vec![0; 0];
self.device.get(u8::from(ServoV2BrickletFunction::GetOverallCurrent), payload)
}
pub fn get_input_voltage(&self) -> ConvertingReceiver<u16> {
let payload = vec![0; 0];
self.device.get(u8::from(ServoV2BrickletFunction::GetInputVoltage), payload)
}
pub fn set_current_calibration(&self, offset: [i16; 10]) -> ConvertingReceiver<()> {
let mut payload = vec![0; 20];
payload[0..20].copy_from_slice(&<[i16; 10]>::to_le_byte_vec(offset));
self.device.set(u8::from(ServoV2BrickletFunction::SetCurrentCalibration), payload)
}
pub fn get_current_calibration(&self) -> ConvertingReceiver<[i16; 10]> {
let payload = vec![0; 0];
self.device.get(u8::from(ServoV2BrickletFunction::GetCurrentCalibration), payload)
}
pub fn set_position_reached_callback_configuration(&self, servo_channel: u16, enabled: bool) -> ConvertingReceiver<()> {
let mut payload = vec![0; 3];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(servo_channel));
payload[2..3].copy_from_slice(&<bool>::to_le_byte_vec(enabled));
self.device.set(u8::from(ServoV2BrickletFunction::SetPositionReachedCallbackConfiguration), payload)
}
pub fn get_position_reached_callback_configuration(&self, servo_channel: u16) -> ConvertingReceiver<bool> {
let mut payload = vec![0; 2];
payload[0..2].copy_from_slice(&<u16>::to_le_byte_vec(servo_channel));
self.device.get(u8::from(ServoV2BrickletFunction::GetPositionReachedCallbackConfiguration), payload)
}
pub fn get_spitfp_error_count(&self) -> ConvertingReceiver<SpitfpErrorCount> {
let payload = vec![0; 0];
self.device.get(u8::from(ServoV2BrickletFunction::GetSpitfpErrorCount), payload)
}
pub fn set_bootloader_mode(&self, mode: u8) -> ConvertingReceiver<u8> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<u8>::to_le_byte_vec(mode));
self.device.get(u8::from(ServoV2BrickletFunction::SetBootloaderMode), payload)
}
pub fn get_bootloader_mode(&self) -> ConvertingReceiver<u8> {
let payload = vec![0; 0];
self.device.get(u8::from(ServoV2BrickletFunction::GetBootloaderMode), payload)
}
pub fn set_write_firmware_pointer(&self, pointer: u32) -> ConvertingReceiver<()> {
let mut payload = vec![0; 4];
payload[0..4].copy_from_slice(&<u32>::to_le_byte_vec(pointer));
self.device.set(u8::from(ServoV2BrickletFunction::SetWriteFirmwarePointer), payload)
}
pub fn write_firmware(&self, data: [u8; 64]) -> ConvertingReceiver<u8> {
let mut payload = vec![0; 64];
payload[0..64].copy_from_slice(&<[u8; 64]>::to_le_byte_vec(data));
self.device.get(u8::from(ServoV2BrickletFunction::WriteFirmware), payload)
}
pub fn set_status_led_config(&self, config: u8) -> ConvertingReceiver<()> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<u8>::to_le_byte_vec(config));
self.device.set(u8::from(ServoV2BrickletFunction::SetStatusLedConfig), payload)
}
pub fn get_status_led_config(&self) -> ConvertingReceiver<u8> {
let payload = vec![0; 0];
self.device.get(u8::from(ServoV2BrickletFunction::GetStatusLedConfig), payload)
}
pub fn get_chip_temperature(&self) -> ConvertingReceiver<i16> {
let payload = vec![0; 0];
self.device.get(u8::from(ServoV2BrickletFunction::GetChipTemperature), payload)
}
pub fn reset(&self) -> ConvertingReceiver<()> {
let payload = vec![0; 0];
self.device.set(u8::from(ServoV2BrickletFunction::Reset), payload)
}
pub fn write_uid(&self, uid: u32) -> ConvertingReceiver<()> {
let mut payload = vec![0; 4];
payload[0..4].copy_from_slice(&<u32>::to_le_byte_vec(uid));
self.device.set(u8::from(ServoV2BrickletFunction::WriteUid), payload)
}
pub fn read_uid(&self) -> ConvertingReceiver<u32> {
let payload = vec![0; 0];
self.device.get(u8::from(ServoV2BrickletFunction::ReadUid), payload)
}
pub fn get_identity(&self) -> ConvertingReceiver<Identity> {
let payload = vec![0; 0];
self.device.get(u8::from(ServoV2BrickletFunction::GetIdentity), payload)
}
}