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use super::{instruction_id, packet_id};
use crate::{Bus, Response};
/// The parameters for the CLEAR command to clear the revolution counter.
const CLEAR_REVOLUTION_COUNT: [u8; 5] = [0x01, 0x44, 0x58, 0x4C, 0x22];
impl<ReadBuffer, WriteBuffer> Bus<ReadBuffer, WriteBuffer>
where
ReadBuffer: AsRef<[u8]> + AsMut<[u8]>,
WriteBuffer: AsRef<[u8]> + AsMut<[u8]>,
{
/// Clear the multi-revolution counter of a motor.
///
/// This will reset the "present position" register to a value between 0 and a whole revolution.
/// It is not possible to clear the revolution counter of a motor while it is moving.
/// Doing so will cause the motor to return an error, and the revolution counter will not be reset.
///
/// You may specify [`crate::instructions::packet_id::BROADCAST`] as motor ID.
/// If you do, none of the devices will reply with a response, and this function will not wait for any.
///
/// If you want to broadcast this instruction, it may be more convenient to use [`Self::broadcast_clear_revolution_counter()`] instead.
pub fn clear_revolution_counter(&mut self, motor_id: u8) -> Result<Response<()>, crate::TransferError> {
self.write_instruction(motor_id, instruction_id::CLEAR, CLEAR_REVOLUTION_COUNT.len(), encode_parameters)?;
Ok(super::read_response_if_not_broadcast(self, motor_id)?)
}
/// Clear the revolution counter of all connected motors.
///
/// This will reset the "present position" register to a value between 0 and a whole revolution.
/// It is not possible to clear the mutli-revolution counter of a motor while it is moving.
/// Doing so will cause the motor to return an error, and the revolution counter will not be reset.
pub fn broadcast_clear_revolution_counter(&mut self) -> Result<(), crate::WriteError> {
self.write_instruction(
packet_id::BROADCAST,
instruction_id::CLEAR,
CLEAR_REVOLUTION_COUNT.len(),
encode_parameters,
)?;
Ok(())
}
}
fn encode_parameters(buffer: &mut [u8]) {
buffer.copy_from_slice(&CLEAR_REVOLUTION_COUNT)
}