Struct QueryFormat 

#[non_exhaustive]
pub struct QueryFormat {

    pub mode: Resolution,
    pub position: Resolution,
    pub velocity: Resolution,
    pub torque: Resolution,
    pub q_current: Resolution,
    pub d_current: Resolution,
    pub abs_position: Resolution,
    pub power: Resolution,
    pub motor_temperature: Resolution,
    pub trajectory_complete: Resolution,
    pub home_state: Resolution,
    pub voltage: Resolution,
    pub temperature: Resolution,
    pub fault: Resolution,
    pub aux1_gpio: Resolution,
    pub aux2_gpio: Resolution,
    pub aux1_pwm_input_period_us: Resolution,
    pub aux1_pwm_input_duty_cycle: Resolution,
    pub aux2_pwm_input_period_us: Resolution,
    pub aux2_pwm_input_duty_cycle: Resolution,
    pub extra: [(u16, Resolution); 16],
}

Format configuration for queries.

Specifies which registers to query and at what resolution. Setting a field to Resolution::Ignore means that register will not be queried.

Examples

use moteus_protocol::Resolution;
use moteus_protocol::query::QueryFormat;

// Default format queries position, velocity, torque, and q_current
let default = QueryFormat::default();

// Comprehensive format includes all standard registers
let full = QueryFormat::comprehensive();

// Or customize individual registers
let mut custom = QueryFormat::default();
custom.abs_position = Resolution::Float;
custom.voltage = Resolution::Int16;

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: Resolution

position: Resolution

velocity: Resolution

torque: Resolution

q_current: Resolution

d_current: Resolution

abs_position: Resolution

power: Resolution

motor_temperature: Resolution

trajectory_complete: Resolution

home_state: Resolution

voltage: Resolution

temperature: Resolution

fault: Resolution

aux1_gpio: Resolution

aux2_gpio: Resolution

aux1_pwm_input_period_us: Resolution

aux1_pwm_input_duty_cycle: Resolution

aux2_pwm_input_period_us: Resolution

aux2_pwm_input_duty_cycle: Resolution

extra: [(u16, Resolution); 16]

Extra registers to query, as (register_number, resolution) pairs. Entries with Resolution::Ignore are unused. Active entries must be sorted by register number (maintained by add_extra).

Implementations

impl QueryFormat

pub fn minimal() -> QueryFormat

Creates a minimal query format (mode, position, velocity, torque only).

pub fn comprehensive() -> QueryFormat

Creates a comprehensive query format with all common fields.

pub fn extra_count(&self) -> usize

Returns the number of active extra register entries.

pub fn add_extra(&mut self, register: u16, resolution: Resolution)

Adds an extra register to query.

pub fn serialize(&self, frame: &mut CanFdFrame) -> u8

Serializes the query to a CAN frame and returns expected reply size.

Trait Implementations

impl Clone for QueryFormat

fn clone(&self) -> QueryFormat

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for QueryFormat

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

Formats the value using the given formatter.

impl Default for QueryFormat

fn default() -> QueryFormat

Returns the “default value” for a type.