Struct drs_0x01::MessageBuilderCmd

pub struct MessageBuilderCmd { /* fields omitted */ }

This is a specialized version of the MessageBuilder which contains an ID. It is used to build other types of builders such as :

• MessageBuilderMem
• MessageBuilderPosition
• MessageBuilderSpecial

Methods

impl MessageBuilderCmd

pub fn read_ram<T: Into<Option<u8>>>(     self,     ram_addr: ReadableRamAddr,     size: T ) -> MessageBuilderMem

Create a message of type RAM_READ (read from the temporary memory)

pub fn write_ram(self, ram_addr: WritableRamAddr) -> MessageBuilderMem

Create a message of type RAM_WRITE (write to the temporary memory, last until the servo is restarted)

pub fn read_eep<T: Into<Option<u8>>>(     self,     eep_addr: ReadableEEPAddr,     size: T ) -> MessageBuilderMem

Create a message of type READ_EEP (read the permanent memory)

pub fn write_eep<S: Into<Option<u8>>>(     self,     eep_addr: WritableEEPAddr ) -> MessageBuilderMem

Create a message of type WRITE_EEP (write to the permanent memory, require a reboot to take effect).

pub fn reboot(self) -> MessageBuilderSpecial

Create a message of type REBOOT (reboot the designed servos)

pub fn rollback(self, flags: Rollback) -> MessageBuilderSpecial

Create a message of type ROLLBACK (reset EEP memory)

pub fn stat(self) -> MessageBuilderSpecial

Create a message of type STAT (request servo status)

pub fn s_jog(     self,     playtime: u8,     mode: JogMode,     color: JogColor,     id: u8 ) -> MessageBuilderPositionSJOG

Create a new message of type SJog. There is a maximum of 10 servomotors that can be controlled per sjog message.

Invalid Values

The maximum playtime value is 0xFE. The maximum id value is 0xFE.

pub fn i_jog(     self,     playtime: u8,     mode: JogMode,     color: JogColor,     id: u8 ) -> MessageBuilderPositionIJOG

Create a new message of type IJOG There is a maximum of 10 servomotors that can be controlled per ijog message.

Invalid Values

The maximum playtime value is 0xFE. The maximum id value is 0xFE.