Struct drs_0x01::advanced::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(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. The maximum position value is 1024.

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. The maximum position value is 1024.