[−][src]Struct odrive_cansimple::Connection
Master CAN connection to one or more ODrive boards.
Methods
impl Connection
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pub fn new(ifname: &str) -> Result<Connection, CANSocketOpenError>
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Returns an open CAN bus connection.
Example:
match odrive_cansimple::Connection::new("can0") { Ok(conn) => (), Err(error) => (), }
pub fn read(&self) -> Result<Signal>
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Blocks until a a CAN frame is read from the bus.
pub fn emergency_stop(&self, id: AxisId) -> Result<()>
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pub fn reboot(&self, id: AxisId) -> Result<()>
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pub fn clear_errors(&self, id: AxisId) -> Result<()>
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pub fn start_anticogging(&self, id: AxisId) -> Result<()>
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pub fn set_axis_node_id(&self, id: AxisId, new_id: AxisId) -> Result<()>
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pub fn set_axis_requested_state(
&self,
id: AxisId,
state: AxisState
) -> Result<()>
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&self,
id: AxisId,
state: AxisState
) -> Result<()>
pub fn set_input_current(&self, id: AxisId, value: f32) -> Result<()>
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Set the current setpoint to the given value in amps with 0.01 A granularity.
pub fn set_velocity_limit(&self, id: AxisId, value: f32) -> Result<()>
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pub fn set_controller_modes(
&self,
id: AxisId,
control_mode: ControlMode
) -> Result<()>
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&self,
id: AxisId,
control_mode: ControlMode
) -> Result<()>
pub fn get_motor_error(&self, id: AxisId) -> Result<()>
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pub fn get_encoder_error(&self, id: AxisId) -> Result<()>
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pub fn get_sensorless_error(&self, id: AxisId) -> Result<()>
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pub fn get_encoder_estimates(&self, id: AxisId) -> Result<()>
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pub fn get_encoder_count(&self, id: AxisId) -> Result<()>
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pub fn get_iq(&self, id: AxisId) -> Result<()>
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pub fn get_sensorless_estimate(&self, id: AxisId) -> Result<()>
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pub fn get_vbus_voltage(&self, id: AxisId) -> Result<()>
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Auto Trait Implementations
impl RefUnwindSafe for Connection
impl Send for Connection
impl Sync for Connection
impl Unpin for Connection
impl UnwindSafe for Connection
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
U: TryFrom<T>,