Struct SetTargetContext 

pub struct SetTargetContext {
    pub current_mode: Option<MotorMode>,
    pub peak_torque_nm: Option<f32>,
    pub mit_kp_kd_factor: Option<f32>,
}

set_target 时除 target 本身外需要从 Manager 缓存里取的上下文。

current_mode 必填（从 MotorEntry 的 target_mode 取）；其它 字段只有相应模式才需要：

• peak_torque_nm：Torque target 把 Nm → 0x6071 i16 ‰ 时用
• mit_kp_kd_factor：Mit target 把 Nm/Rev → 0x2003:04/05 u16 kp_int/kd_int 时用

Fields

current_mode: Option<MotorMode>

peak_torque_nm: Option<f32>

mit_kp_kd_factor: Option<f32>

Trait Implementations

impl Clone for SetTargetContext

fn clone(&self) -> SetTargetContext

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for SetTargetContext

impl Debug for SetTargetContext

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

Formats the value using the given formatter.

impl Default for SetTargetContext

fn default() -> SetTargetContext

Returns the “default value” for a type.