Enum Register 

#[non_exhaustive]
#[repr(u16)]
pub enum Register {
    Mode = 0,
    Position = 1,
    Velocity = 2,
    Torque = 3,
    QCurrent = 4,
    DCurrent = 5,
    AbsPosition = 6,
    Power = 7,
    MotorTemperature = 10,
    TrajectoryComplete = 11,
    HomeState = 12,
    Voltage = 13,
    Temperature = 14,
    Fault = 15,
    PwmPhaseA = 16,
    PwmPhaseB = 17,
    PwmPhaseC = 18,
    VoltagePhaseA = 20,
    VoltagePhaseB = 21,
    VoltagePhaseC = 22,
    VFocTheta = 24,
    VFocVoltage = 25,
    VoltageDqD = 26,
    VoltageDqQ = 27,
    CommandQCurrent = 28,
    CommandDCurrent = 29,
    VFocThetaRate = 30,
    CommandPosition = 32,
    CommandVelocity = 33,
    CommandFeedforwardTorque = 34,
    CommandKpScale = 35,
    CommandKdScale = 36,
    CommandPositionMaxTorque = 37,
    CommandStopPosition = 38,
    CommandTimeout = 39,
    CommandVelocityLimit = 40,
    CommandAccelLimit = 41,
    CommandFixedVoltageOverride = 42,
    CommandIlimitScale = 43,
    CommandFixedCurrentOverride = 44,
    CommandIgnorePositionBounds = 45,
    PositionKp = 48,
    PositionKi = 49,
    PositionKd = 50,
    PositionFeedforward = 51,
    PositionCommand = 52,
    ControlPosition = 56,
    ControlVelocity = 57,
    ControlTorque = 58,
    ControlPositionError = 59,
    ControlVelocityError = 60,
    ControlTorqueError = 61,
    CommandStayWithinLowerBound = 64,
    CommandStayWithinUpperBound = 65,
    CommandStayWithinFeedforwardTorque = 66,
    CommandStayWithinKpScale = 67,
    CommandStayWithinKdScale = 68,
    CommandStayWithinPositionMaxTorque = 69,
    CommandStayWithinTimeout = 70,
    CommandStayWithinIlimitScale = 71,
    CommandStayWithinIgnorePositionBounds = 72,
    Encoder0Position = 80,
    Encoder0Velocity = 81,
    Encoder1Position = 82,
    Encoder1Velocity = 83,
    Encoder2Position = 84,
    Encoder2Velocity = 85,
    EncoderValidity = 88,
    Aux1GpioCommand = 92,
    Aux2GpioCommand = 93,
    Aux1GpioStatus = 94,
    Aux2GpioStatus = 95,
    Aux1AnalogIn1 = 96,
    Aux1AnalogIn2 = 97,
    Aux1AnalogIn3 = 98,
    Aux1AnalogIn4 = 99,
    Aux1AnalogIn5 = 100,
    Aux2AnalogIn1 = 104,
    Aux2AnalogIn2 = 105,
    Aux2AnalogIn3 = 106,
    Aux2AnalogIn4 = 107,
    Aux2AnalogIn5 = 108,
    MillisecondCounter = 112,
    ClockTrim = 113,
    Aux1PwmInputPeriod = 114,
    Aux1PwmInputDutyCycle = 115,
    Aux2PwmInputPeriod = 116,
    Aux2PwmInputDutyCycle = 117,
    Aux1Pwm1 = 118,
    Aux1Pwm2 = 119,
    Aux1Pwm3 = 120,
    Aux1Pwm4 = 121,
    Aux1Pwm5 = 122,
    Aux2Pwm1 = 123,
    Aux2Pwm2 = 124,
    Aux2Pwm3 = 125,
    Aux2Pwm4 = 126,
    Aux2Pwm5 = 127,
    ModelNumber = 256,
    FirmwareVersion = 257,
    RegisterMapVersion = 258,
    MultiplexId = 272,
    SerialNumber1 = 288,
    SerialNumber2 = 289,
    SerialNumber3 = 290,
    SetOutputNearest = 304,
    SetOutputExact = 305,
    RequireReindex = 306,
    RecapturePositionVelocity = 307,
    DriverFault1 = 320,
    DriverFault2 = 321,
    Uuid1 = 336,
    Uuid2 = 337,
    Uuid3 = 338,
    Uuid4 = 339,
    UuidMask1 = 340,
    UuidMask2 = 341,
    UuidMask3 = 342,
    UuidMask4 = 343,
    UuidMaskCapable = 344,
}

Registers exposed for reading or writing from a moteus controller.

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.

Mode = 0

Current mode of operation

Position = 1

Output shaft position in revolutions

Velocity = 2

Output shaft velocity in revolutions/second

Torque = 3

Motor torque in Nm

QCurrent = 4

Q-axis current in A

DCurrent = 5

D-axis current in A

AbsPosition = 6

Absolute encoder position (if configured)

Power = 7

Electrical power in W

MotorTemperature = 10

Motor temperature in C

TrajectoryComplete = 11

1 if trajectory is complete

HomeState = 12

Home/rezero state

Voltage = 13

Input voltage in V

Temperature = 14

Board temperature in C

Fault = 15

Fault code (0 = no fault)

PwmPhaseA = 16

PWM duty cycle for phase A

PwmPhaseB = 17

PWM duty cycle for phase B

PwmPhaseC = 18

PWM duty cycle for phase C

VoltagePhaseA = 20

Phase A voltage in V

VoltagePhaseB = 21

Phase B voltage in V

VoltagePhaseC = 22

Phase C voltage in V

VFocTheta = 24

Voltage FOC theta angle

VFocVoltage = 25

Voltage FOC voltage

VoltageDqD = 26

Voltage DQ D component

VoltageDqQ = 27

Voltage DQ Q component

CommandQCurrent = 28

Command Q current for current mode

CommandDCurrent = 29

Command D current for current mode

VFocThetaRate = 30

Voltage FOC theta rate

CommandPosition = 32

Target position in revolutions

CommandVelocity = 33

Target velocity in revolutions/second

CommandFeedforwardTorque = 34

Feedforward torque in Nm

CommandKpScale = 35

Kp scale (0-1)

CommandKdScale = 36

Kd scale (0-1)

CommandPositionMaxTorque = 37

Maximum torque in Nm

CommandStopPosition = 38

Stop position (for trajectories)

CommandTimeout = 39

Watchdog timeout in seconds

CommandVelocityLimit = 40

Velocity limit in revolutions/second

CommandAccelLimit = 41

Acceleration limit in revolutions/second^2

CommandFixedVoltageOverride = 42

Fixed voltage override

CommandIlimitScale = 43

Current limit scale

CommandFixedCurrentOverride = 44

Fixed current override

CommandIgnorePositionBounds = 45

Ignore position bounds flag

PositionKp = 48

Position Kp torque

PositionKi = 49

Position Ki torque

PositionKd = 50

Position Kd torque

PositionFeedforward = 51

Position feedforward torque

PositionCommand = 52

Position total torque

ControlPosition = 56

Control position target

ControlVelocity = 57

Control velocity target

ControlTorque = 58

Control torque target

ControlPositionError = 59

Position error

ControlVelocityError = 60

Velocity error

ControlTorqueError = 61

Torque error

CommandStayWithinLowerBound = 64

Lower position bound

CommandStayWithinUpperBound = 65

Upper position bound

CommandStayWithinFeedforwardTorque = 66

Stay-within feedforward torque

CommandStayWithinKpScale = 67

Stay-within Kp scale

CommandStayWithinKdScale = 68

Stay-within Kd scale

CommandStayWithinPositionMaxTorque = 69

Stay-within maximum torque

CommandStayWithinTimeout = 70

Stay-within timeout

CommandStayWithinIlimitScale = 71

Stay-within current limit scale

CommandStayWithinIgnorePositionBounds = 72

Stay-within ignore position bounds

Encoder0Position = 80

Encoder 0 position

Encoder0Velocity = 81

Encoder 0 velocity

Encoder1Position = 82

Encoder 1 position

Encoder1Velocity = 83

Encoder 1 velocity

Encoder2Position = 84

Encoder 2 position

Encoder2Velocity = 85

Encoder 2 velocity

EncoderValidity = 88

Encoder validity flags

Aux1GpioCommand = 92

Aux1 GPIO command

Aux2GpioCommand = 93

Aux2 GPIO command

Aux1GpioStatus = 94

Aux1 GPIO status

Aux2GpioStatus = 95

Aux2 GPIO status

Aux1AnalogIn1 = 96

Aux1 analog input 1

Aux1AnalogIn2 = 97

Aux1 analog input 2

Aux1AnalogIn3 = 98

Aux1 analog input 3

Aux1AnalogIn4 = 99

Aux1 analog input 4

Aux1AnalogIn5 = 100

Aux1 analog input 5

Aux2AnalogIn1 = 104

Aux2 analog input 1

Aux2AnalogIn2 = 105

Aux2 analog input 2

Aux2AnalogIn3 = 106

Aux2 analog input 3

Aux2AnalogIn4 = 107

Aux2 analog input 4

Aux2AnalogIn5 = 108

Aux2 analog input 5

MillisecondCounter = 112

Millisecond counter

ClockTrim = 113

Clock trim value

Aux1PwmInputPeriod = 114

Aux1 PWM input period in microseconds

Aux1PwmInputDutyCycle = 115

Aux1 PWM input duty cycle (0-1)

Aux2PwmInputPeriod = 116

Aux2 PWM input period in microseconds

Aux2PwmInputDutyCycle = 117

Aux2 PWM input duty cycle (0-1)

Aux1Pwm1 = 118

Aux1 PWM output 1

Aux1Pwm2 = 119

Aux1 PWM output 2

Aux1Pwm3 = 120

Aux1 PWM output 3

Aux1Pwm4 = 121

Aux1 PWM output 4

Aux1Pwm5 = 122

Aux1 PWM output 5

Aux2Pwm1 = 123

Aux2 PWM output 1

Aux2Pwm2 = 124

Aux2 PWM output 2

Aux2Pwm3 = 125

Aux2 PWM output 3

Aux2Pwm4 = 126

Aux2 PWM output 4

Aux2Pwm5 = 127

Aux2 PWM output 5

ModelNumber = 256

Model number

FirmwareVersion = 257

Firmware version

RegisterMapVersion = 258

Register map version

MultiplexId = 272

Multiplex CAN ID

SerialNumber1 = 288

Serial number part 1

SerialNumber2 = 289

Serial number part 2

SerialNumber3 = 290

Serial number part 3

SetOutputNearest = 304

Set output position to nearest (alias: Rezero)

SetOutputExact = 305

Set output position to exact value

RequireReindex = 306

Require reindex before motion

RecapturePositionVelocity = 307

Recapture position and velocity

DriverFault1 = 320

Driver fault register 1

DriverFault2 = 321

Driver fault register 2

Uuid1 = 336

UUID part 1

Uuid2 = 337

UUID part 2

Uuid3 = 338

UUID part 3

Uuid4 = 339

UUID part 4

UuidMask1 = 340

UUID mask part 1

UuidMask2 = 341

UUID mask part 2

UuidMask3 = 342

UUID mask part 3

UuidMask4 = 343

UUID mask part 4

UuidMaskCapable = 344

UUID mask capability flag

Implementations

impl Register

pub const fn address(self) -> u16

Returns the register address as a u16.

pub fn from_address(addr: u16) -> Option<Register>

Creates a Register from a raw address.

Returns None if the address doesn’t correspond to a known register.

Trait Implementations

impl Clone for Register

fn clone(&self) -> Register

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Register

impl Debug for Register

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

Formats the value using the given formatter.

impl Display for Register

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

Formats the value using the given formatter.

impl Eq for Register

impl From<Register> for u16

fn from(enum_value: Register) -> Self

Converts to this type from the input type.

impl Hash for Register

fn hash<__H: Hasher>(&self, state: &mut __H)

Feeds this value into the given Hasher.

fn hash_slice<H>(data: &[Self], state: &mut H)

where H: Hasher, Self: Sized,

Feeds a slice of this type into the given Hasher.

impl PartialEq for Register

fn eq(&self, other: &Register) -> 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 Register

impl TryFrom<u16> for Register

type Error = TryFromPrimitiveError<Register>

The type returned in the event of a conversion error.

fn try_from(number: u16) -> Result<Self, TryFromPrimitiveError<Self>>

Performs the conversion.

impl TryFromPrimitive for Register

const NAME: &'static str = "Register"

type Primitive = u16

type Error = TryFromPrimitiveError<Register>

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