Enum drs_0x01::addr::WritableEEPAddr

pub enum WritableEEPAddr {
Show 32 variants
    BaudRate(u8),
    ID(u8),
    AckPolicy(u8),
    AlarmLEDPolicy(u8),
    TorquePolicy(u8),
    MaxTemperature(u8),
    MinVoltage(u8),
    MaxVoltage(u8),
    AccelerationRatio(u8),
    MaxAccelerationTime(u8),
    DeadZone(u8),
    SaturatorOffset(u8),
    SaturatorSlope(u8, u8),
    PWMOffset(u8),
    MinPWM(u8),
    MaxPWM(u8, u8),
    OverloadPWMThreshold(u8, u8),
    MinPosition(u8, u8),
    MaxPosition(u8, u8),
    PositionKp(u8, u8),
    PositionKd(u8, u8),
    PositionKi(u8, u8),
    PositionFFFirstGain(u8, u8),
    PositionFFSecondGain(u8, u8),
    LedBlinkPeriod(u8),
    ADCFaultCheckPeriod(u8),
    PacketGarbageDetectionPeriod(u8),
    StopDetectionPeriod(u8),
    OverloadDetectionPeriod(u8),
    StopThreshold(u8),
    InpositionMargin(u8),
    CalibrationDifference(u8),
}

Expand description

This enum represent all the EPP (permanent) memory addresses which can be written to. I comes from the page 21 of the datasheet.

Variants

`BaudRate(u8)`

Communication speed

`ID(u8)`

Servo ID

`AckPolicy(u8)`

TODO : Refer to pg 33

`AlarmLEDPolicy(u8)`

Activates LED according to Policy

`TorquePolicy(u8)`

Releases Torque accroding to Policy

`MaxTemperature(u8)`

Maximum allowed temperature (0xDF = 85°C)

`MinVoltage(u8)`

Minimum allowed voltage (0x5B = 6.714 VDC)

`MaxVoltage(u8)`

Maximum allowed voltage (0x89 = 10 VDC)

`AccelerationRatio(u8)`

Ratio of time to reach goal position to acceleration or deceleration

`MaxAccelerationTime(u8)`

Max acceleration time, 11.2ms interval. Acceleration(0x2D : 504 ms)

`DeadZone(u8)`

Outside controle range

`SaturatorOffset(u8)`

TODO : Refer to datasheet page 36

`SaturatorSlope(u8, u8)`

TODO : Refer to datasheet page 36

`PWMOffset(u8)`

PWM Offset value, refer to datasheet page 37

`MinPWM(u8)`

Set minimum PWM value, refer to the datasheet page 37

`MaxPWM(u8, u8)`

Set maximum PWM value, refer to the datasheet page 37

`OverloadPWMThreshold(u8, u8)`

Set PWM Overload thershold range, refer to the datasheet page 34

`MinPosition(u8, u8)`

Minimum position value (between 0 and 1023)

`MaxPosition(u8, u8)`

Maximum position value (between 0 and 1023)

`PositionKp(u8, u8)`

Proportional gain

`PositionKd(u8, u8)`

Derivative gain

`PositionKi(u8, u8)`

Integral gain

`PositionFFFirstGain(u8, u8)`

Refer to the datasheet page 35

`PositionFFSecondGain(u8, u8)`

Refer to the datasheet page 35

`LedBlinkPeriod(u8)`

Alarm LED blink period according to Policy 11.2ms/Tick (0x2D : 504 ms)

`ADCFaultCheckPeriod(u8)`

Temp/Voltage error check interval. 11.2ms/tick (0x2D : 504 ms)

`PacketGarbageDetectionPeriod(u8)`

Packet error check interval. 11.2ms/tick (0x12 : 201 ms)

`StopDetectionPeriod(u8)`

Stop detection check interval. 11.2ms/tick (0x1B : 302 ms)

`OverloadDetectionPeriod(u8)`

Overload check interbal. 11.2ms/tick (0x96 : 1.68 s)

`StopThreshold(u8)`

Stop Threshold

`InpositionMargin(u8)`

Offset Threshold

`CalibrationDifference(u8)`

Servo compensation

Implementations

impl WritableEEPAddr

pub fn bytes(self) -> u8

Return the number of bytes associated with an address

Trait Implementations

impl Clone for WritableEEPAddr

fn clone(&self) -> WritableEEPAddr

Returns a copy of the value. Read more

1.0.0 · source

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

impl Debug for WritableEEPAddr

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

impl From<WritableEEPAddr> for u8

fn from(me: WritableEEPAddr) -> Self

Converts to this type from the input type.

impl PartialEq<WritableEEPAddr> for WritableEEPAddr

fn eq(&self, other: &WritableEEPAddr) -> bool

This method tests for self and other values to be equal, and is used by ==. Read more

1.0.0 · source

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason. Read more

impl TryFrom<u8> for WritableEEPAddr

type Err = Error

fn try_from(me: u8) -> Result<WritableEEPAddr, Error>

impl Copy for WritableEEPAddr

impl StructuralPartialEq for WritableEEPAddr

Auto Trait Implementations

impl RefUnwindSafe for WritableEEPAddr

impl Send for WritableEEPAddr

impl Sync for WritableEEPAddr

impl Unpin for WritableEEPAddr

impl UnwindSafe for WritableEEPAddr

Blanket Implementations

impl<T> Any for Twhere
T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Borrow<T> for Twhere
T: ?Sized,

const: unstable · source

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for Twhere
T: ?Sized,

const: unstable · source

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<T> From<T> for T

const: unstable · source

fn from(t: T) -> T

Returns the argument unchanged.

impl<T, U> Into<U> for Twhere
U: From<T>,

const: unstable · source

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> ToOwned for Twhere
T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> TryFrom<U> for Twhere
U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

const: unstable · source

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.

impl<T, U> TryInto<U> for Twhere
U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

const: unstable · source

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.

impl<T, U> TryInto<U> for Twhere
U: TryFrom<T>,

type Err = <U as TryFrom<T>>::Err

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Err>