Enum drs_0x01::addr::WritableRamAddr

pub enum WritableRamAddr {
Show 35 variants
    ID(u8),
    AckPolicy(u8),
    AlarmLEDPolicy(u8),
    TorquePolicy(u8),
    MaxTemperature(u8),
    MinVoltage(u8),
    MaxVoltage(u8),
    AccelerationRatio(u8),
    MaxAcceleration(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),
    ADCFaultDetectionPeriod(u8),
    PacketGarbageDetectionPeriod(u8),
    StopDetectionPeriod(u8),
    OverloadDetectionPeriod(u8),
    StopThreshold(u8),
    InpositionMargin(u8),
    CalibrationDifference(u8),
    StatusError(u8),
    StatusDetail(u8),
    TorqueControl(u8),
    LEDControl(u8),
}

Expand description

This enum represent all the RAM (volatile) memory addresses which can be written to. I comes from the page 24 of the datasheet.

Variants

`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

`MaxAcceleration(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)

`ADCFaultDetectionPeriod(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

`StatusError(u8)`

Refer to datasheet page 39

`StatusDetail(u8)`

Refer to datasheet page 39

`TorqueControl(u8)`

Torque enable states (refer to datasheet page 28)

`LEDControl(u8)`

0x01 : Green, 0x02 : Blue, 0x04 : Red

Implementations

impl WritableRamAddr

pub fn bytes(self) -> u8

Return the size in bytes of the value stocked at this address

Trait Implementations

impl Clone for WritableRamAddr

fn clone(&self) -> WritableRamAddr

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 WritableRamAddr

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

Formats the value using the given formatter. Read more

impl From<WritableRamAddr> for u8

fn from(addr: WritableRamAddr) -> Self

Converts to this type from the input type.

impl PartialEq<WritableRamAddr> for WritableRamAddr

fn eq(&self, other: &WritableRamAddr) -> 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 WritableRamAddr

type Err = Error

fn try_from(addr: u8) -> Result<WritableRamAddr, Error>

impl Copy for WritableRamAddr

impl Eq for WritableRamAddr

impl StructuralEq for WritableRamAddr

impl StructuralPartialEq for WritableRamAddr

Auto Trait Implementations

impl RefUnwindSafe for WritableRamAddr

impl Send for WritableRamAddr

impl Sync for WritableRamAddr

impl Unpin for WritableRamAddr

impl UnwindSafe for WritableRamAddr

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>