Struct dobot::base::Dobot

pub struct Dobot { /* fields omitted */ }

The Dobot robot arm controller type.

Methods

impl Dobot

pub async fn open<P>(path: P) -> DobotResult<Self> where
    P: AsRef<Path>, 

Create controller object from device file.

pub async fn set_ptp_joint_params<'_>(
    &'_ mut self,
    v_x: f32,
    v_y: f32,
    v_z: f32,
    v_r: f32,
    a_x: f32,
    a_y: f32,
    a_z: f32,
    a_r: f32
) -> DobotResult<()>

pub async fn set_cp_cmd<'_>(
    &'_ mut self,
    x: f32,
    y: f32,
    z: f32
) -> DobotResult<()>

pub async fn set_ptp_coordinate_params<'_>(
    &'_ mut self,
    velocity: f32,
    acceleration: f32
) -> DobotResult<()>

pub async fn set_ptp_jump_params<'_>(
    &'_ mut self,
    jump: f32,
    limit: f32
) -> DobotResult<()>

pub async fn set_ptp_common_params<'_>(
    &'_ mut self,
    velocity: f32,
    acceleration: f32
) -> DobotResult<()>

pub async fn set_ptp_cmd<'_>(
    &'_ mut self,
    x: f32,
    y: f32,
    z: f32,
    r: f32,
    mode: Mode,
    wait: bool
) -> DobotResult<()>

pub async fn set_end_effector_suction_cup<'_>(
    &'_ mut self,
    enable: bool
) -> DobotResult<()>

pub async fn set_end_effector_gripper<'_>(
    &'_ mut self,
    enable: bool
) -> DobotResult<()>

pub async fn set_queued_cmd_start_exec<'_>(&'_ mut self) -> DobotResult<()>

pub async fn set_queued_cmd_stop_exec<'_>(&'_ mut self) -> DobotResult<()>

pub async fn set_queued_cmd_clear<'_>(&'_ mut self) -> DobotResult<()>

pub async fn get_queued_cmd_current_index<'_>(&'_ mut self) -> DobotResult<u32>

pub async fn get_pose<'_>(&'_ mut self) -> DobotResult<Pose>

Get the current pose of robot.

pub async fn move_to<'_>(
    &'_ mut self,
    x: f32,
    y: f32,
    z: f32,
    r: f32,
    wait: bool
) -> DobotResult<()>

Move to given pose.

pub async fn send_command<'_>(
    &'_ mut self,
    request_msg: DobotMessage
) -> DobotResult<DobotMessage>

Send user-defined request to Dobot and obtain response.