Struct VFOCCommand 

#[non_exhaustive]
pub struct VFOCCommand {
    pub theta: f32,
    pub voltage: f32,
    pub theta_rate: Option<f32>,
}

Voltage-mode FOC command.

See PositionCommand for an example of building and serializing commands.

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.

theta: f32

Electrical angle in radians

voltage: f32

Voltage to apply

theta_rate: Option<f32>

Electrical angle rate in radians/second

Implementations

impl VFOCCommand

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

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

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

impl VFOCCommand

pub fn new() -> Self

Creates a new VFOC command with default values.

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

Serializes this command to a CAN frame.

Trait Implementations

impl Clone for VFOCCommand

fn clone(&self) -> VFOCCommand

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for VFOCCommand

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

Formats the value using the given formatter.

impl Default for VFOCCommand

fn default() -> Self

Returns the “default value” for a type.