vex_sdk/
motor.rs

1//! V5 Smart Motor
2
3use core::ffi::c_double;
4
5use crate::device::V5_DeviceT;
6
7#[repr(transparent)]
8#[derive(Default, Debug, Copy, Clone, Eq, PartialEq)]
9pub struct V5MotorBrakeMode(pub core::ffi::c_uchar);
10
11impl V5MotorBrakeMode {
12    pub const kV5MotorBrakeModeCoast: Self = Self(0);
13    pub const kV5MotorBrakeModeBrake: Self = Self(1);
14    pub const kV5MotorBrakeModeHold: Self = Self(2);
15}
16
17#[repr(transparent)]
18#[derive(Default, Debug, Copy, Clone, Eq, PartialEq)]
19pub struct V5MotorControlMode(pub core::ffi::c_uchar);
20
21impl V5MotorControlMode {
22    pub const kMotorControlModeOFF: Self = Self(0);
23    pub const kMotorControlModeBRAKE: Self = Self(1);
24    pub const kMotorControlModeHOLD: Self = Self(2);
25    pub const kMotorControlModeSERVO: Self = Self(3);
26    pub const kMotorControlModePROFILE: Self = Self(4);
27    pub const kMotorControlModeVELOCITY: Self = Self(5);
28    pub const kMotorControlModeUNDEFINED: Self = Self(6);
29}
30
31#[repr(transparent)]
32#[derive(Default, Debug, Copy, Clone, Eq, PartialEq)]
33pub struct V5MotorEncoderUnits(pub core::ffi::c_uchar);
34
35impl V5MotorEncoderUnits {
36    pub const kMotorEncoderDegrees: Self = Self(0);
37    pub const kMotorEncoderRotations: Self = Self(1);
38    pub const kMotorEncoderCounts: Self = Self(2);
39}
40
41#[repr(transparent)]
42#[derive(Default, Debug, Copy, Clone, Eq, PartialEq)]
43pub struct V5MotorGearset(pub core::ffi::c_uchar);
44
45impl V5MotorGearset {
46    pub const kMotorGearSet_36: Self = Self(0);
47    pub const kMotorGearSet_18: Self = Self(1);
48    pub const kMotorGearSet_06: Self = Self(2);
49}
50
51#[repr(C, packed)]
52#[derive(Default, Copy, Clone, Eq, PartialEq, Debug)]
53pub struct V5_DeviceMotorPid {
54    pub kf: u8,
55    pub kp: u8,
56    pub ki: u8,
57    pub kd: u8,
58    pub filter: u8,
59    pub pad1: u8,
60    pub limit: u16,
61    pub threshold: u8,
62    pub loopspeed: u8,
63    pub pad2: [u8; 2],
64}
65
66unsafe extern "system" {
67    pub fn vexDeviceMotorVelocitySet(device: V5_DeviceT, velocity: i32);
68    pub fn vexDeviceMotorVelocityGet(device: V5_DeviceT) -> i32;
69    pub fn vexDeviceMotorActualVelocityGet(device: V5_DeviceT) -> c_double;
70    pub fn vexDeviceMotorDirectionGet(device: V5_DeviceT) -> i32;
71    pub fn vexDeviceMotorModeSet(device: V5_DeviceT, mode: V5MotorControlMode);
72    pub fn vexDeviceMotorModeGet(device: V5_DeviceT) -> V5MotorControlMode;
73    pub fn vexDeviceMotorPwmSet(device: V5_DeviceT, pwm: i32);
74    pub fn vexDeviceMotorPwmGet(device: V5_DeviceT) -> i32;
75    pub fn vexDeviceMotorCurrentLimitSet(device: V5_DeviceT, limit: i32);
76    pub fn vexDeviceMotorCurrentLimitGet(device: V5_DeviceT) -> i32;
77    pub fn vexDeviceMotorCurrentGet(device: V5_DeviceT) -> i32;
78    pub fn vexDeviceMotorPowerGet(device: V5_DeviceT) -> c_double;
79    pub fn vexDeviceMotorTorqueGet(device: V5_DeviceT) -> c_double;
80    pub fn vexDeviceMotorEfficiencyGet(device: V5_DeviceT) -> c_double;
81    pub fn vexDeviceMotorTemperatureGet(device: V5_DeviceT) -> c_double;
82    pub fn vexDeviceMotorOverTempFlagGet(device: V5_DeviceT) -> bool;
83    pub fn vexDeviceMotorCurrentLimitFlagGet(device: V5_DeviceT) -> bool;
84    pub fn vexDeviceMotorZeroVelocityFlagGet(device: V5_DeviceT) -> bool;
85    pub fn vexDeviceMotorZeroPositionFlagGet(device: V5_DeviceT) -> bool;
86    pub fn vexDeviceMotorReverseFlagSet(device: V5_DeviceT, reverse: bool);
87    pub fn vexDeviceMotorReverseFlagGet(device: V5_DeviceT) -> bool;
88    pub fn vexDeviceMotorEncoderUnitsSet(device: V5_DeviceT, units: V5MotorEncoderUnits);
89    pub fn vexDeviceMotorEncoderUnitsGet(device: V5_DeviceT) -> V5MotorEncoderUnits;
90    pub fn vexDeviceMotorBrakeModeSet(device: V5_DeviceT, mode: V5MotorBrakeMode);
91    pub fn vexDeviceMotorBrakeModeGet(device: V5_DeviceT) -> V5MotorBrakeMode;
92    pub fn vexDeviceMotorPositionSet(device: V5_DeviceT, position: c_double);
93    pub fn vexDeviceMotorPositionGet(device: V5_DeviceT) -> c_double;
94    pub fn vexDeviceMotorPositionRawGet(device: V5_DeviceT, timestamp: *mut u32) -> i32;
95    pub fn vexDeviceMotorPositionReset(device: V5_DeviceT);
96    pub fn vexDeviceMotorTargetGet(device: V5_DeviceT) -> c_double;
97    pub fn vexDeviceMotorServoTargetSet(device: V5_DeviceT, position: c_double);
98    pub fn vexDeviceMotorAbsoluteTargetSet(device: V5_DeviceT, position: c_double, veloctiy: i32);
99    pub fn vexDeviceMotorRelativeTargetSet(device: V5_DeviceT, position: c_double, velocity: i32);
100    pub fn vexDeviceMotorFaultsGet(device: V5_DeviceT) -> u32;
101    pub fn vexDeviceMotorFlagsGet(device: V5_DeviceT) -> u32;
102    pub fn vexDeviceMotorVoltageSet(device: V5_DeviceT, voltage: i32);
103    pub fn vexDeviceMotorVoltageGet(device: V5_DeviceT) -> i32;
104    pub fn vexDeviceMotorGearingSet(device: V5_DeviceT, gearset: V5MotorGearset);
105    pub fn vexDeviceMotorGearingGet(device: V5_DeviceT) -> V5MotorGearset;
106    pub fn vexDeviceMotorVoltageLimitSet(device: V5_DeviceT, limit: i32);
107    pub fn vexDeviceMotorVoltageLimitGet(device: V5_DeviceT) -> i32;
108    pub fn vexDeviceMotorVelocityUpdate(device: V5_DeviceT, velocity: i32);
109    pub fn vexDeviceMotorPositionPidSet(device: V5_DeviceT, pid: *mut V5_DeviceMotorPid);
110    pub fn vexDeviceMotorVelocityPidSet(device: V5_DeviceT, pid: *mut V5_DeviceMotorPid);
111    pub fn vexDeviceMotorExternalProfileSet(device: V5_DeviceT, position: c_double, velocity: i32);
112}
vex_sdk/motor.rs

vex_sdk/
motor.rs
