Crate drs_0x01[−][src]
This crate provides basic functionnality to communicate with Herkulex DRS (both 0101 and 0201)
servomotors.
It is heavily based on the documentation published by Dongbu Robot which is available
here
.
Examples
To reboot all the servomotors you can use this message :
use drs_0x01::MessageBuilder; // 0xFE is the broadcast ID let message = MessageBuilder::new().id(0xFE).reboot().build();
Here is how to enable torque for the servomotor labelled 35 :
use drs_0x01::MessageBuilder; use drs_0x01::WritableRamAddr::TorqueControl; let message = MessageBuilder::new_with_id(35).write_ram(TorqueControl(1)).build();
Structs
MessageBuilder |
This struct allows you to build message to directly speak to the herkulex servomotors. |
MessageBuilderCmd |
This is a specialized version of the |
MessageBuilderPosition |
This is a specialized version of the |
MessageBuilderSpecial |
This is a specialized version of the |
Enums
ReadableEEPAddr |
This enum represent all the EPP (permanent) memory addresses which can be read. I comes from the page 21 of the datasheet. |
ReadableRamAddr |
This enum represent all the RAM (volatile) memory adresses which can be read. I comes from the page 24 of the datasheet. |
WritableEEPAddr |
This enum represent all the EPP (permanent) memory addresses which can be written to. I comes from the page 21 of the datasheet. |
WritableRamAddr |
This enum represent all the RAM (volatile) memory addresses which can be written to. I comes from the page 24 of the datasheet. |