Struct QueryResult 

#[non_exhaustive]
pub struct QueryResult {

    pub mode: Mode,
    pub position: f32,
    pub velocity: f32,
    pub torque: f32,
    pub q_current: f32,
    pub d_current: f32,
    pub abs_position: f32,
    pub power: f32,
    pub motor_temperature: f32,
    pub trajectory_complete: bool,
    pub home_state: HomeState,
    pub voltage: f32,
    pub temperature: f32,
    pub fault: i8,
    pub aux1_gpio: i8,
    pub aux2_gpio: i8,
    pub aux1_pwm_input_period_us: i32,
    pub aux1_pwm_input_duty_cycle: f32,
    pub aux2_pwm_input_period_us: i32,
    pub aux2_pwm_input_duty_cycle: f32,
    pub extra: [Option<ExtraValue>; 16],
}

Result of parsing a query response.

Examples

use moteus_protocol::CanFdFrame;
use moteus_protocol::query::QueryResult;

// After receiving a response frame from the device...
fn handle_response(frame: &CanFdFrame) {
    let result = QueryResult::parse(frame);
    if result.mode.is_error() {
        eprintln!("Fault code: {}", result.fault);
    }
}

Fields (Non-exhaustive)

Non-exhaustive structs could have additional fields added in future. Therefore, non-exhaustive structs cannot be constructed in external crates using the traditional Struct { .. } syntax; cannot be matched against without a wildcard ..; and struct update syntax will not work.

mode: Mode

position: f32

velocity: f32

torque: f32

q_current: f32

d_current: f32

abs_position: f32

power: f32

motor_temperature: f32

trajectory_complete: bool

home_state: HomeState

voltage: f32

temperature: f32

fault: i8

aux1_gpio: i8

aux2_gpio: i8

aux1_pwm_input_period_us: i32

aux1_pwm_input_duty_cycle: f32

aux2_pwm_input_period_us: i32

aux2_pwm_input_duty_cycle: f32

extra: [Option<ExtraValue>; 16]

Extra register values. None entries are unused.

Implementations

impl QueryResult

pub fn new() -> Self

Creates a new QueryResult with NaN values.

pub fn parse(frame: &CanFdFrame) -> Self

Parses a query response from a CAN frame.

pub fn parse_data(data: &[u8]) -> Self

Parses a query response from raw bytes.

pub fn get_extra(&self, register: u16) -> Option<f32>

Gets an extra value by register number.

Trait Implementations

impl Clone for QueryResult

fn clone(&self) -> QueryResult

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for QueryResult

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

Formats the value using the given formatter.

impl Default for QueryResult

fn default() -> QueryResult

Returns the “default value” for a type.