Struct PositionCommand 

#[non_exhaustive]
pub struct PositionCommand {

    pub position: Option<f32>,
    pub velocity: Option<f32>,
    pub feedforward_torque: Option<f32>,
    pub kp_scale: Option<f32>,
    pub kd_scale: Option<f32>,
    pub maximum_torque: Option<f32>,
    pub stop_position: Option<f32>,
    pub watchdog_timeout: Option<f32>,
    pub velocity_limit: Option<f32>,
    pub accel_limit: Option<f32>,
    pub fixed_voltage_override: Option<f32>,
    pub ilimit_scale: Option<f32>,
    pub fixed_current_override: Option<f32>,
    pub ignore_position_bounds: Option<f32>,
}

Position mode command.

This is the primary control mode for moteus. All fields are optional; fields set to None will not be transmitted (using Ignore resolution).

Examples

use moteus_protocol::CanFdFrame;
use moteus_protocol::command::{PositionCommand, PositionFormat};

let mut frame = CanFdFrame::new();
frame.arbitration_id = 0x8001;

// Build with the builder pattern -- fields are optional
let cmd = PositionCommand::new()
    .position(0.5)
    .velocity(1.0)
    .maximum_torque(2.0);

cmd.serialize(&mut frame, &PositionFormat::default());
assert!(frame.size > 0);

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.

position: Option<f32>

Target position in revolutions

velocity: Option<f32>

Target velocity in revolutions/second

feedforward_torque: Option<f32>

Feedforward torque in Nm

kp_scale: Option<f32>

Kp scale factor (0-1)

kd_scale: Option<f32>

Kd scale factor (0-1)

maximum_torque: Option<f32>

Maximum torque in Nm

stop_position: Option<f32>

Stop position for trajectory mode

watchdog_timeout: Option<f32>

Watchdog timeout in seconds

velocity_limit: Option<f32>

Velocity limit in revolutions/second

accel_limit: Option<f32>

Acceleration limit in revolutions/second^2

fixed_voltage_override: Option<f32>

Fixed voltage override

ilimit_scale: Option<f32>

Current limit scale factor

fixed_current_override: Option<f32>

Fixed current override in A

ignore_position_bounds: Option<f32>

Ignore position bounds flag

Implementations

impl PositionCommand

pub fn position(self, value: f32) -> Self

pub fn velocity(self, value: f32) -> Self

pub fn feedforward_torque(self, value: f32) -> Self

pub fn kp_scale(self, value: f32) -> Self

pub fn kd_scale(self, value: f32) -> Self

pub fn maximum_torque(self, value: f32) -> Self

pub fn stop_position(self, value: f32) -> Self

pub fn watchdog_timeout(self, value: f32) -> Self

pub fn velocity_limit(self, value: f32) -> Self

pub fn accel_limit(self, value: f32) -> Self

pub fn fixed_voltage_override(self, value: f32) -> Self

pub fn ilimit_scale(self, value: f32) -> Self

pub fn fixed_current_override(self, value: f32) -> Self

pub fn ignore_position_bounds(self, value: f32) -> Self

impl PositionCommand

pub fn new() -> Self

Creates a new position command with all fields set to None.

pub fn serialize(&self, frame: &mut CanFdFrame, format: &PositionFormat)

Serializes this command to a CAN frame.

Trait Implementations

impl Clone for PositionCommand

fn clone(&self) -> PositionCommand

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PositionCommand

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

Formats the value using the given formatter.

impl Default for PositionCommand

fn default() -> PositionCommand

Returns the “default value” for a type.