Struct Motor 

pub struct Motor<I: Read + Write> { /* private fields */ }

Implementations

impl<I: Read + Write> Motor<I>

pub async fn modbus_enabled(&mut self) -> Result<bool>

pub async fn set_modbus_enabled(&mut self, value: bool) -> Result<()>

pub async fn drive_enabled(&mut self) -> Result<bool>

pub async fn set_drive_enabled(&mut self, value: bool) -> Result<()>

pub async fn target_rpm(&mut self) -> Result<u16>

Gets the target speed in RPM

In speed mode, this is the target speed. In position mode, this is the maximum speed.

pub async fn set_target_rpm(&mut self, value: u16) -> Result<()>

Sets the target speed in RPM

0-3000 RPM. In speed mode, this is the target speed. In position mode, this is the maximum speed.

pub async fn acceleration(&mut self) -> Result<u16>

pub async fn set_acceleration(&mut self, value: u16) -> Result<()>

pub async fn weak_magnetic_angle(&mut self) -> Result<u16>

pub async fn set_weak_magnetic_angle(&mut self, value: u16) -> Result<()>

pub async fn speed_kp(&mut self) -> Result<u16>

pub async fn set_speed_kp(&mut self, value: u16) -> Result<()>

pub async fn speed_i_time(&mut self) -> Result<Duration>

pub async fn set_speed_i_time(&mut self, value: Duration) -> Result<()>

pub async fn position_kp(&mut self) -> Result<u16>

pub async fn set_position_kp(&mut self, value: u16) -> Result<()>

pub async fn speed_feed(&mut self) -> Result<f32>

pub async fn set_speed_feed(&mut self, value: f32) -> Result<()>

pub async fn dir_polarity(&mut self) -> Result<Direction>

pub async fn set_dir_polarity(&mut self, value: Direction) -> Result<()>

pub async fn electronic_gear_numerator(&mut self) -> Result<u16>

pub async fn set_electronic_gear_numerator(&mut self, value: u16) -> Result<()>

Set numerator of electronic gear ratio

0-65535 0 enables special functions

pub async fn electronic_gear_denominator(&mut self) -> Result<u16>

pub async fn set_electronic_gear_denominator( &mut self, value: u16, ) -> Result<()>

Set denominator of electronic gear ratio

1-65535

pub async fn target_position(&mut self) -> Result<u32>

pub async fn set_target_position(&mut self, value: u32) -> Result<()>

pub async fn alarm_code(&mut self) -> Result<Option<AlarmCode>>

pub async fn current(&mut self) -> Result<f32>

pub async fn speed(&mut self) -> Result<f32>

pub async fn voltage(&mut self) -> Result<f32>

pub async fn temperature(&mut self) -> Result<u16>

pub async fn pwm(&mut self) -> Result<u16>

pub async fn parameter_save_flag(&mut self) -> Result<bool>

pub async fn set_parameter_save_flag(&mut self, value: bool) -> Result<()>

pub async fn device_address(&mut self) -> Result<u16>

pub async fn absolute_position(&mut self) -> Result<u32>

pub async fn set_absolute_position(&mut self, value: u32) -> Result<()>

pub async fn still_maximum_allowed_current(&mut self) -> Result<u16>

pub async fn set_still_maximum_allowed_current( &mut self, value: u16, ) -> Result<()>

pub async fn specific_function(&mut self) -> Result<u16>

pub async fn set_specific_function(&mut self, value: u16) -> Result<()>

impl<I: Read + Write> Motor<I>

pub fn new( comm: I, baud: RtuBaud, address: u8, response_timeout: Duration, ) -> Self

pub async fn set_baud_rate(&mut self, baud: RtuBaud) -> Result<()>

pub async fn set_target_position_custom(&mut self, value: u32) -> Result<()>

pub async fn set_absolute_position_custom(&mut self, value: u32) -> Result<()>