Struct drs_0x01::Servo

pub struct Servo { /* private fields */ }

This struct allows you to build messages for a servomotor.

Implementations

impl Servo

pub fn new(id: u8) -> Servo

Create a new Servo with the given ID.

Notes

• Valid ID are in the range 0..253.
• 254 is the broadcast ID.

pub fn set_id(&mut self, id: u8)

Change the servo ID.

pub fn id(self) -> u8

Return the servo ID.

pub fn reboot(self) -> HerkulexMessage

Create a reboot message requesting the servo to reboot. During the reboot all changes applied to the EEP memory will take effect.

pub fn set_position(self, position: u16) -> HerkulexMessage

Request the servo to go to a position. The value can be between 0 and 1023 but should be between 21 and 1002 if you don’t want the servomotor fo go in error mode.

pub fn set_speed(self, speed: u16) -> HerkulexMessage

Request the servo to have a certain speed. The value should be between 0 and 1023.

pub fn stat(self) -> HerkulexMessage

Request the servo to send it’s status.

pub fn ram_write(self, addr: WritableRamAddr) -> HerkulexMessage

Write to the volatile RAM of the servo. Ram is cleared on every reboot, and populated with data from the EEP memory.

pub fn eep_write(self, addr: WritableEEPAddr) -> HerkulexMessage

Write to the permanent EEP memory. For the change to take effect you need to reboot the servo so that the values are loaded in RAM.

pub fn ram_request(self, addr: ReadableRamAddr) -> HerkulexMessage

Request the servo to send back some data from RAM.

pub fn eep_request(self, addr: ReadableEEPAddr) -> HerkulexMessage

Request the servo to send back some data from EEP.

pub fn enable_torque(self) -> HerkulexMessage

Request the servo to enable torque.

pub fn disable_torque(self) -> HerkulexMessage

Request the servo to disable torque.

pub fn clear_errors(self) -> HerkulexMessage

Clear the error register of the servo.

Trait Implementations

impl Clone for Servo

fn clone(&self) -> Servo

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Servo

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

Formats the value using the given formatter.

impl Default for Servo

fn default() -> Self

Returns the “default value” for a type.

impl Copy for Servo