Struct odrive_cansimple::Connection

pub struct Connection { /* fields omitted */ }

Master CAN connection to one or more ODrive boards.

Implementations

impl Connection

pub fn new(ifname: &str) -> Result<Connection, CANSocketOpenError>

Returns an open CAN bus connection.

Example:

match odrive_cansimple::Connection::new("can0") {
    Ok(conn) => (),
    Err(error) => (),
}

pub fn set_nonblocking(&self, nonblocking: bool) -> Result<()>

Set the connection to blocking or non-blocking mode.

pub fn read(&self) -> Result<Signal>

Blocks until a a CAN frame is read from the bus.

pub fn write(&self, frame: &CANFrame) -> Result<()>

pub fn emergency_stop(&self, id: AxisId) -> Result<()>

pub fn reboot(&self, id: AxisId) -> Result<()>

pub fn clear_errors(&self, id: AxisId) -> Result<()>

pub fn start_anticogging(&self, id: AxisId) -> Result<()>

pub fn set_axis_node_id(&self, id: AxisId, new_id: AxisId) -> Result<()>

pub fn set_axis_requested_state(
    &self,
    id: AxisId,
    state: AxisState
) -> Result<()>

pub fn set_input_current(&self, id: AxisId, value: f32) -> Result<()>

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<()>

pub fn set_controller_modes(
    &self,
    id: AxisId,
    control_mode: ControlMode
) -> Result<()>

pub fn get_motor_error(&self, id: AxisId) -> Result<()>

pub fn get_encoder_error(&self, id: AxisId) -> Result<()>

pub fn get_sensorless_error(&self, id: AxisId) -> Result<()>

pub fn get_encoder_estimates(&self, id: AxisId) -> Result<()>

pub fn get_encoder_count(&self, id: AxisId) -> Result<()>

pub fn get_iq(&self, id: AxisId) -> Result<()>

pub fn get_sensorless_estimate(&self, id: AxisId) -> Result<()>

pub fn get_vbus_voltage(&self, id: AxisId) -> Result<()>