Struct tmcl::Command
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[src]
pub struct Command<T: Instruction> { /* fields omitted */ }
A Comamnd is an Instruction with a module address.
It contains everything required to serialize itself into Binary command format.
Methods
impl<T: Instruction> Command<T>[src]
pub fn new(module_address: u8, instruction: T) -> Command<T>[src]
pub fn module_address(&self) -> u8[src]
Returns the module address
pub fn serialize(&self) -> [u8; 9][src]
Serialize into binary command format suited for RS232, RS485 etc
The array will look like the following:
[MODULE_ADR, CMD_N, TYPE_N, MOTOR_N, VALUE3, VALUE2, VALUE1, VALUE0, CHECKSUM]
pub fn serialize_i2c(&self) -> [u8; 8][src]
Serialize into binary command format suited for I2C
The array will look like the following:
[CMD_N, TYPE_N, MOTOR_N, VALUE3, VALUE2, VALUE1, VALUE0, CHECKSUM]
pub fn serialize_can(&self) -> [u8; 7][src]
Serialize into binary command format suited for CAN (controller area network)
When using CAN the module address and checksum will be excluded.
The array will look like the following:
[CMD_N, TYPE_N, MOTOR_N, VALUE3, VALUE2, VALUE1, VALUE0]
Trait Implementations
impl<T: Debug + Instruction> Debug for Command<T>[src]
fn fmt(&self, __arg_0: &mut Formatter) -> Result[src]
Formats the value using the given formatter. Read more