Enum drs_0x01::addr::WritableEEPAddr

pub enum WritableEEPAddr {
    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),
}

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

Methods

impl WritableEEPAddr

pub fn bytes(self) -> u8

Return the number of bytes associated with an address

Trait Implementations

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 ==.

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

This method tests for !=.

impl Copy for WritableEEPAddr

impl Debug for WritableEEPAddr

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

Formats the value using the given formatter.

impl From<WritableEEPAddr> for u8

fn from(me: WritableEEPAddr) -> Self

Performs the conversion.

impl Clone for WritableEEPAddr

fn clone(&self) -> WritableEEPAddr

Returns a copy of the value.

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

Performs copy-assignment from source.

impl TryFrom<u8> for WritableEEPAddr

type Err = Error

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