Enum Mode 

#[non_exhaustive]
#[repr(u8)]
pub enum Mode {
    Stopped = 0,
    Fault = 1,
    Enabling = 2,
    Calibrating = 3,
    CalibrationComplete = 4,
    Pwm = 5,
    Voltage = 6,
    VoltageFoc = 7,
    VoltageDq = 8,
    Current = 9,
    Position = 10,
    Timeout = 11,
    ZeroVelocity = 12,
    StayWithin = 13,
    MeasureInd = 14,
    Brake = 15,
}

The operating mode of a moteus controller.

This corresponds to the value in the Register::Mode register.

Variants (Non-exhaustive)

Non-exhaustive enums could have additional variants added in future. Therefore, when matching against variants of non-exhaustive enums, an extra wildcard arm must be added to account for any future variants.

Stopped = 0

Motor is stopped and unpowered

Fault = 1

Controller is in a fault state

Enabling = 2

Controller is enabling (transitioning to active)

Calibrating = 3

Controller is calibrating

CalibrationComplete = 4

Calibration is complete

Pwm = 5

Raw PWM mode

Voltage = 6

Voltage mode

VoltageFoc = 7

Voltage FOC mode

VoltageDq = 8

Voltage DQ mode

Current = 9

Current (torque) mode

Position = 10

Position mode (primary operating mode)

Timeout = 11

Position timeout (watchdog expired)

ZeroVelocity = 12

Zero velocity mode (hold position with damping)

StayWithin = 13

Stay within bounds mode

MeasureInd = 14

Measure inductance mode (calibration)

Brake = 15

Brake mode (short motor windings)

Implementations

impl Mode

pub fn is_error(&self) -> bool

Returns true if the controller is in an error state.

Examples

use moteus_protocol::Mode;

let mode = Mode::Position;
assert!(mode.is_active());
assert!(!mode.is_error());

let fault = Mode::Fault;
assert!(fault.is_error());
assert!(!fault.is_active());

pub fn is_active(&self) -> bool

Returns true if the controller is actively controlling the motor.

Trait Implementations

impl Clone for Mode

fn clone(&self) -> Mode

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Mode

impl Debug for Mode

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

Formats the value using the given formatter.

impl Default for Mode

fn default() -> Mode

Returns the “default value” for a type.

impl Display for Mode

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

Formats the value using the given formatter.

impl Eq for Mode

impl From<Mode> for u8

fn from(enum_value: Mode) -> Self

Converts to this type from the input type.

impl From<Mode> for i8

fn from(mode: Mode) -> i8

Converts to this type from the input type.

impl PartialEq for Mode

fn eq(&self, other: &Mode) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for Mode

impl TryFrom<u8> for Mode

type Error = TryFromPrimitiveError<Mode>

The type returned in the event of a conversion error.

fn try_from(number: u8) -> Result<Self, TryFromPrimitiveError<Self>>

Performs the conversion.

impl TryFromPrimitive for Mode

const NAME: &'static str = "Mode"

type Primitive = u8

type Error = TryFromPrimitiveError<Mode>

fn try_from_primitive( number: Self::Primitive, ) -> Result<Self, TryFromPrimitiveError<Self>>