Struct lss_driver::LSSDriver

pub struct LSSDriver { /* fields omitted */ }

Driver for the LSS servo

Implementations

impl LSSDriver

pub fn new(port: &str) -> Result<LSSDriver, Box<dyn Error>>

Create new driver on a serial port with default settings

Default baud_rate is 115200

Arguments

• post - Port to use. e.g. COM1 or /dev/ttyACM0

Example

use lss_driver::LSSDriver;
let mut driver = LSSDriver::new("COM1").unwrap();

pub fn with_baud_rate(
    port: &str,
    baud_rate: u32
) -> Result<LSSDriver, Box<dyn Error>>

Create new driver on a serial port with custom baud rate

Arguments

• post - Port to use. e.g. COM1 or /dev/ttyACM0
• baud_rate - Baudrate. e.g. 115200

Example

use lss_driver::LSSDriver;
let mut driver = LSSDriver::with_baud_rate("COM1", 115200).unwrap();

pub fn with_driver(driver: Box<dyn FramedDriver>) -> LSSDriver

Creates new LSS driver with a custom implementation of the transport

This is used for tests and can be used if you want to reimplement the driver over network

pub async fn query_id<'_>(&'_ mut self, id: u8) -> Result<u8, Box<dyn Error>>

Query value of ID Especially useful with BROADCAST_ID

wiki

Arguments

• id - ID of servo you want to control

Example

use lss_driver::LSSDriver;
async fn async_main(){
    let mut driver = LSSDriver::with_baud_rate("COM1", 115200).unwrap();
    let id = driver.query_id(lss_driver::BROADCAST_ID).await.unwrap();
}

pub async fn set_id<'_>(
    &'_ mut self,
    id: u8,
    new_id: u8
) -> Result<(), Box<dyn Error>>

Set value of ID Saved to EEPROM Only takes effect after restart

wiki

Arguments

• id - ID of servo you want to control
• new_id - ID You want that servo to have

pub async fn set_color<'_>(
    &'_ mut self,
    id: u8,
    color: LedColor
) -> Result<(), Box<dyn Error>>

set color for driver with id

Arguments

• id - ID of servo you want to control
• color - Color to set

pub async fn query_color<'_>(
    &'_ mut self,
    id: u8
) -> Result<LedColor, Box<dyn Error>>

Query color of servo LED

Arguments

• id - ID of servo you want to query

pub async fn move_to_position<'_>(
    &'_ mut self,
    id: u8,
    position: f32
) -> Result<(), Box<dyn Error>>

Move to absolute position in degrees

Supports virtual positions that are more than 360 degrees

Arguments

• id - ID of servo you want to control
• position - Absolute position in degrees

Example

use lss_driver::LSSDriver;
async fn async_main(){
    let mut driver = LSSDriver::with_baud_rate("COM1", 115200).unwrap();
    driver.move_to_position(5, 180.0).await;
    driver.move_to_position(5, 480.0).await;
}

pub async fn query_position<'_>(
    &'_ mut self,
    id: u8
) -> Result<f32, Box<dyn Error>>

Query absolute current position in degrees

Supports virtual positions that are more than 360 degrees

Arguments

• id - ID of servo you want to query

pub async fn query_target_position<'_>(
    &'_ mut self,
    id: u8
) -> Result<f32, Box<dyn Error>>

Query absolute target position in degrees

Supports virtual positions that are more than 360 degrees

Arguments

• id - ID of servo you want to query

pub async fn set_rotation_speed<'_>(
    &'_ mut self,
    id: u8,
    speed: f32
) -> Result<(), Box<dyn Error>>

Set continuous rotation speed in °/s

Arguments

• id - ID of servo you want to control
• speed - Speed in °/s

pub async fn query_rotation_speed<'_>(
    &'_ mut self,
    id: u8
) -> Result<f32, Box<dyn Error>>

Query absolute rotation speed in °/s

Arguments

• id - ID of servo you want to query

pub async fn query_status<'_>(
    &'_ mut self,
    id: u8
) -> Result<MotorStatus, Box<dyn Error>>

Query status of a motor

View more on wiki

Arguments

• id - ID of servo you want to query

pub async fn query_safety_status<'_>(
    &'_ mut self,
    id: u8
) -> Result<SafeModeStatus, Box<dyn Error>>

Query safety status of a motor

View more on wiki

Arguments

• id - ID of servo you want to query

pub async fn set_motion_profile<'_>(
    &'_ mut self,
    id: u8,
    motion_profile: bool
) -> Result<(), Box<dyn Error>>

Set motion profile enabled or disabled. If the motion profile is enabled, angular acceleration (AA) and angular deceleration(AD) will have an effect on the motion. Also, SD/S and T modifiers can be used.

With motion profile enabled servos will follow a motion curve With motion profile disabled servos move towards target location at full speed

Arguments

• id - ID of servo you want to control
• motion_profile - set motion profile on/off

pub async fn query_motion_profile<'_>(
    &'_ mut self,
    id: u8
) -> Result<bool, Box<dyn Error>>

query motion profile enabled or disabled. If the motion profile is enabled, angular acceleration (AA) and angular deceleration(AD) will have an effect on the motion. Also, SD/S and T modifiers can be used.

With motion profile enabled servos will follow a motion curve With motion profile disabled servos move towards target location at full speed

Arguments

• id - ID of servo you want to query

pub async fn set_filter_position_count<'_>(
    &'_ mut self,
    id: u8,
    filter_position_count: u8
) -> Result<(), Box<dyn Error>>

Set filter position count

Change the Filter Position Count value for this session. Affects motion only when motion profile is disabled (EM0)

more info at the wiki

Arguments

• id - ID of servo you want to control
• filter_position_count - default if 5

pub async fn query_filter_position_count<'_>(
    &'_ mut self,
    id: u8
) -> Result<u8, Box<dyn Error>>

Query filter position count

Query the Filter Position Count value. Affects motion only when motion profile is disabled (EM0)

more info at the wiki

Arguments

• id - ID of servo you want to query

pub async fn set_angular_stiffness<'_>(
    &'_ mut self,
    id: u8,
    angular_stiffness: i32
) -> Result<(), Box<dyn Error>>

Set angular stiffness

Read more about Angular stiffness

Arguments

• id - ID of servo you want to control
• angular_stiffness - value for angular stiffness (-10 to 10) (recommended -4 to 4)

pub async fn query_angular_stiffness<'_>(
    &'_ mut self,
    id: u8
) -> Result<i32, Box<dyn Error>>

Query angular stiffness

Read more about Angular stiffness

Arguments

• id - ID of servo you want to query

pub async fn set_angular_holding_stiffness<'_>(
    &'_ mut self,
    id: u8,
    angular_holding: i32
) -> Result<(), Box<dyn Error>>

Set angular holding stiffness

Read more about Angular holding stiffness

Arguments

• id - ID of servo you want to control
• angular_holding - value for angular holding stiffness (-10 to 10)

pub async fn query_angular_holding_stiffness<'_>(
    &'_ mut self,
    id: u8
) -> Result<i32, Box<dyn Error>>

Query angular holding stiffness

Read more about Angular holding stiffness

Arguments

• id - ID of servo you want to control

pub async fn set_angular_acceleration<'_>(
    &'_ mut self,
    id: u8,
    angular_acceleration: i32
) -> Result<(), Box<dyn Error>>

Set angular acceleration in degrees per second squared (°/s2)

Accepts values between 1 and 100. Increments of 10 Only used when motion profile is enabled

Read more on the wiki

Arguments

• id - ID of servo you want to control
• angular_acceleration - value for angular acceleration (1 to 100, Increments 10)

pub async fn query_angular_acceleration<'_>(
    &'_ mut self,
    id: u8
) -> Result<i32, Box<dyn Error>>

Query angular acceleration in degrees per second squared (°/s2)

Accepts values between 1 and 100. Increments of 10 Only used when motion profile is enabled

Read more on the wiki

Arguments

• id - ID of servo you want to query

pub async fn set_angular_deceleration<'_>(
    &'_ mut self,
    id: u8,
    angular_deceleration: i32
) -> Result<(), Box<dyn Error>>

Set angular deceleration in degrees per second squared (°/s2)

Accepts values between 1 and 100. Increments of 10 Only used when motion profile is enabled

Read more on the wiki

Arguments

• id - ID of servo you want to control
• angular_deceleration - value for angular deceleration (1 to 100, Increments 10)

pub async fn query_angular_deceleration<'_>(
    &'_ mut self,
    id: u8
) -> Result<i32, Box<dyn Error>>

Query angular deceleration in degrees per second squared (°/s2)

Accepts values between 1 and 100. Increments of 10 Only used when motion profile is enabled

Read more on the wiki

Arguments

• id - ID of servo you want to query

pub async fn limp<'_>(&'_ mut self, id: u8) -> Result<(), Box<dyn Error>>

Disables power to motor allowing it to be back driven

Arguments

• id - ID of servo you want to control

pub async fn halt_hold<'_>(&'_ mut self, id: u8) -> Result<(), Box<dyn Error>>

Stops any ongoing motor motion and actively holds position

Arguments

• id - ID of servo you want to control

pub async fn query_voltage<'_>(
    &'_ mut self,
    id: u8
) -> Result<f32, Box<dyn Error>>

Query voltage of motor in volts

Arguments

• id - ID of servo you want to Query

pub async fn query_temperature<'_>(
    &'_ mut self,
    id: u8
) -> Result<f32, Box<dyn Error>>

Query temperature of motor in celsius

Arguments

• id - ID of servo you want to Query

pub async fn query_current<'_>(
    &'_ mut self,
    id: u8
) -> Result<f32, Box<dyn Error>>

Query current of motor in Amps

Arguments

• id - ID of servo you want to Query

pub async fn query_model<'_>(
    &'_ mut self,
    id: u8
) -> Result<Model, Box<dyn Error>>

Query model string

Arguments

• id - ID of servo you want to query

pub async fn query_firmware_version<'_>(
    &'_ mut self,
    id: u8
) -> Result<String, Box<dyn Error>>

Query firmware version

Arguments

• id - ID of servo you want to query

pub async fn query_serial_number<'_>(
    &'_ mut self,
    id: u8
) -> Result<String, Box<dyn Error>>

Query serial number

Arguments

• id - ID of servo you want to query

pub async fn set_led_blinking<'_>(
    &'_ mut self,
    id: u8,
    blinking_mode: Vec<LedBlinking>
) -> Result<(), Box<dyn Error>>

Set LED blinking mode

Read more on the wiki

Arguments

• id - ID of servo you want to control
• blinking_mode - Blinking mode desired. Can be combination to make motor blink during multiple modes