Struct FeetechBridge 

pub struct FeetechBridge { /* private fields */ }

Bidirectional bridge for Feetech STS/SCS serial bus servos.

Created by the Copper runtime from configuration. Each cycle it:

1. Receives (receive): reads present positions from all servos and publishes them on the positions Rx channel.
2. Sends (send): if a goal_positions Tx message is available, writes goal positions to all servos via a single sync-write packet.

Positions are converted to the unit specified by the "units" config key ("raw", "deg", "rad", or "normalize"). When using "deg", "rad", or "normalize", a calibration file ("calibration_file" key) must be provided.

Implementations

impl FeetechBridge

pub fn ping(&mut self, id: u8) -> CuResult<()>

Ping a servo by ID. Returns Ok(()) if it responds without error.

pub fn set_torque(&mut self, id: u8, enable: bool) -> Result<()>

Enable or disable torque on a single servo.

When torque is enabled the servo actively holds its position. When disabled the servo can be moved freely by hand.

Trait Implementations

impl CuBridge for FeetechBridge

fn new( config: Option<&ComponentConfig>, tx_channels: &[BridgeChannelConfig<<Self::Tx as BridgeChannelSet>::Id>], _rx_channels: &[BridgeChannelConfig<<Self::Rx as BridgeChannelSet>::Id>], resources: Self::Resources<'_>, ) -> CuResult<Self>

where Self: Sized,

Construct the bridge from configuration.

Expected copperconfig.ron keys under the bridge’s config block:

Key	Type	Description
servo0	u8	Bus ID of the first servo
servo1	u8	Bus ID of the second servo
…	…	Up to servo7
units	string	"raw" (default), "deg", "rad", or "normalize"
calibration_file	string	Path to calibration JSON (required for deg/rad/normalize)
ticks_per_rev	integer	Raw units per 360° (model-dependent; default 4096)

At least servo0 must be present.

fn start(&mut self, _ctx: &CuContext) -> CuResult<()>

Called once before the first processing cycle.

Enables torque only when writers are connected (commander mode). In follower mode torque stays off so the arm moves freely.

fn send<'a, Payload>( &mut self, _ctx: &CuContext, channel: &'static BridgeChannel<<Self::Tx as BridgeChannelSet>::Id, Payload>, msg: &CuMsg<Payload>, ) -> CuResult<()>

where Payload: CuMsgPayload + 'a,

Handle an outgoing message on a Tx channel.

For goal_positions: sync-writes the raw positions to the servo bus.

fn receive<'a, Payload>( &mut self, ctx: &CuContext, channel: &'static BridgeChannel<<Self::Rx as BridgeChannelSet>::Id, Payload>, msg: &mut CuMsg<Payload>, ) -> CuResult<()>

where Payload: CuMsgPayload + 'a,

Produce an incoming message on an Rx channel.

For positions: reads every servo’s present position and publishes them as a JointPositions.

fn stop(&mut self, _ctx: &CuContext) -> CuResult<()>

Called once after the last processing cycle.

Disables torque on every servo for safety (prevents the arm from holding position with power applied after the application exits).

type Tx = TxChannels

Outgoing channels (Copper -> external world).

type Rx = RxChannels

Incoming channels (external world -> Copper).

type Resources<'r> = Resources

Resources required by the bridge.

fn preprocess(&mut self, _ctx: &CuContext) -> Result<(), CuError>

Gives the bridge a chance to prepare buffers before I/O.

fn postprocess(&mut self, _ctx: &CuContext) -> Result<(), CuError>

Called once the send/receive pair completed.

impl Freezable for FeetechBridge

fn freeze<E>(&self, encoder: &mut E) -> Result<(), EncodeError>

where E: Encoder,

This method is called by the framework when it wants to save the task state. The default implementation is to encode nothing (stateless). If you have a state, you need to implement this method.

fn thaw<D>(&mut self, _decoder: &mut D) -> Result<(), DecodeError>

where D: Decoder,

This method is called by the framework when it wants to restore the task to a specific state. Here it is similar to Decode but the framework will give you a new instance of the task (the new method will be called)