Struct StayWithinCommand 

#[non_exhaustive]
pub struct StayWithinCommand {
    pub lower_bound: Option<f32>,
    pub upper_bound: Option<f32>,
    pub feedforward_torque: Option<f32>,
    pub kp_scale: Option<f32>,
    pub kd_scale: Option<f32>,
    pub maximum_torque: Option<f32>,
    pub watchdog_timeout: Option<f32>,
    pub ilimit_scale: Option<f32>,
    pub ignore_position_bounds: Option<f32>,
}

Stay-within mode command.

Unlike PositionCommand which drives to a target, this mode keeps the servo within position bounds while applying minimal control effort.

Examples

use moteus_protocol::CanFdFrame;
use moteus_protocol::command::{StayWithinCommand, StayWithinFormat};

let mut frame = CanFdFrame::new();
let cmd = StayWithinCommand::new()
    .lower_bound(-0.5)
    .upper_bound(0.5);
cmd.serialize(&mut frame, &StayWithinFormat::default());

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.

lower_bound: Option<f32>

Lower position bound in revolutions

upper_bound: Option<f32>

Upper position bound in revolutions

feedforward_torque: Option<f32>

Feedforward torque in Nm

kp_scale: Option<f32>

Kp scale factor

kd_scale: Option<f32>

Kd scale factor

maximum_torque: Option<f32>

Maximum torque in Nm

watchdog_timeout: Option<f32>

Watchdog timeout in seconds

ilimit_scale: Option<f32>

Current limit scale

ignore_position_bounds: Option<f32>

Ignore position bounds flag

Implementations

impl StayWithinCommand

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

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

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

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

impl StayWithinCommand

pub fn new() -> Self

Creates a new stay-within command with all fields set to None.

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

Serializes this command to a CAN frame.

Trait Implementations

impl Clone for StayWithinCommand

fn clone(&self) -> StayWithinCommand

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for StayWithinCommand

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

Formats the value using the given formatter.

impl Default for StayWithinCommand

fn default() -> StayWithinCommand

Returns the “default value” for a type.