Struct dynpick_force_torque_sensor::DynpickSensorBuilder [−][src]
Builder of a connection to a dynpick sensor.
Examples
use dynpick_force_torque_sensor::DynpickSensorBuilder; let sensor = DynpickSensorBuilder::open("/dev/ttyUSB0") .and_then(|b| b.set_sensitivity_by_builtin_data()) .and_then(|b| b.build()) .unwrap();
Implementations
impl DynpickSensorBuilder<SensitivityNotSetYet>
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pub fn open<'a>(
path: impl Into<Cow<'a, str>>
) -> Result<DynpickSensorBuilder<SensitivityNotSetYet>, Error>
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path: impl Into<Cow<'a, str>>
) -> Result<DynpickSensorBuilder<SensitivityNotSetYet>, Error>
Connects to the dynpick force torque sensor.
Params
path
The sensor's path.
Returns
Ok(builder)
if successfully connected, Err(reason)
if failed.
Before you use the sensor, you need to calibrate the sensor by calling Self::set_sensitivity_by_builtin_data
or Self::set_sensitivity_manually
.
Examples
See the example here.
pub fn set_sensitivity_manually(
self,
sensitivity: Sensitivity
) -> DynpickSensorBuilder<Ready>
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self,
sensitivity: Sensitivity
) -> DynpickSensorBuilder<Ready>
Set the Sensitivity
of the connected sensor by using the specified sensitivity.
Examples
use dynpick_force_torque_sensor::{DynpickSensorBuilder, Sensitivity, Triplet}; let sensitivity = { let force = Triplet::new(24.9, 24.6, 24.5); let torque = Triplet::new(1664.7, 1639.7, 1638.0); Sensitivity::new(force, torque) }; let sensor = DynpickSensorBuilder::open("/dev/ttyUSB0") .map(|b| b.set_sensitivity_manually(sensitivity)) .and_then(|b| b.build()) .unwrap();
pub fn set_sensitivity_by_builtin_data(
mut self: Self
) -> Result<DynpickSensorBuilder<Ready>, Error>
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mut self: Self
) -> Result<DynpickSensorBuilder<Ready>, Error>
Set the Sensitivity
of the connected sensor, reading its sensitivity from it.
Some sensors may not support this functionality (Err(_)
will be returned under this situation).
Examples
See the example here
Note
This method has not been tested yet because my sensor (WDF-6M200-3) does not support this functionality.
impl DynpickSensorBuilder<Ready>
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pub fn build(self) -> Result<DynpickSensor, Error>
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Consuming this builder, attempts to construct a sensor instance.
Auto Trait Implementations
impl<C> !RefUnwindSafe for DynpickSensorBuilder<C>
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impl<C> Send for DynpickSensorBuilder<C>
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impl<C> !Sync for DynpickSensorBuilder<C>
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impl<C> Unpin for DynpickSensorBuilder<C>
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impl<C> !UnwindSafe for DynpickSensorBuilder<C>
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Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,