Struct odrive_rs::ascii::ODrive

pub struct ODrive<T> where
    T: Read + Write,  { /* fields omitted */ }

Represents a connection with an ODrive motor controller.

Methods

impl<T> ODrive<T> where
    T: Read + Write, 

pub fn new(serial: T) -> Self

Constructs a new ODrive connection using the ReadWriteCloningDecorator. This method of construction will have consequences in overhead. It should only be used when it is not possible to clone the type T.

impl<T> ODrive<T> where
    T: Read + Write, 

pub fn set_position(
    &mut self,
    motor_number: u8,
    position: f32,
    velocity_feed_forward: Option<f32>,
    current_feed_forward: Option<f32>
) -> Result<()>

pub fn set_velocity(
    &mut self,
    motor_number: u8,
    position: f32,
    current_feed_forward: Option<f32>
) -> Result<()>

pub fn set_current(&mut self, motor_number: u8, current: f32) -> Result<()>

pub fn trapezoidal_move(
    &mut self,
    motor_number: u8,
    position: f32
) -> Result<()>

pub fn get_velocity(&mut self, motor_number: u8) -> Result<f32>

pub fn read_float(&mut self) -> Result<f32>

pub fn read_int(&mut self) -> Result<i32>

pub fn run_state(
    &mut self,
    axis: u8,
    requested_state: AxisState,
    wait: bool
) -> Result<bool>

pub fn read_string(&mut self) -> Result<String>

Trait Implementations

impl<T> Read for ODrive<T> where
    T: Read + Write, 

fn read(&mut self, buf: &mut [u8]) -> Result<usize, Error>

Pull some bytes from this source into the specified buffer, returning how many bytes were read.

fn read_vectored(&mut self, bufs: &mut [IoSliceMut]) -> Result<usize, Error>

Like read, except that it reads into a slice of buffers.

unsafe fn initializer(&self) -> Initializer

🔬 This is a nightly-only experimental API. (read_initializer)

Determines if this Reader can work with buffers of uninitialized memory.

fn read_to_end(&mut self, buf: &mut Vec<u8>) -> Result<usize, Error>

Read all bytes until EOF in this source, placing them into buf.

fn read_to_string(&mut self, buf: &mut String) -> Result<usize, Error>

Read all bytes until EOF in this source, appending them to buf.

fn read_exact(&mut self, buf: &mut [u8]) -> Result<(), Error>

Read the exact number of bytes required to fill buf.

fn by_ref(&mut self) -> &mut Self

Creates a "by reference" adaptor for this instance of Read.

fn bytes(self) -> Bytes<Self>

Transforms this Read instance to an [Iterator] over its bytes.

fn chain<R>(self, next: R) -> Chain<Self, R> where
    R: Read, 

Creates an adaptor which will chain this stream with another.

fn take(self, limit: u64) -> Take<Self>

Creates an adaptor which will read at most limit bytes from it.

impl<T> Write for ODrive<T> where
    T: Write + Read, 

fn write(&mut self, buf: &[u8]) -> Result<usize, Error>

Write a buffer into this writer, returning how many bytes were written.

fn flush(&mut self) -> Result<(), Error>

Flush this output stream, ensuring that all intermediately buffered contents reach their destination.

fn write_vectored(&mut self, bufs: &[IoSlice]) -> Result<usize, Error>

Like write, except that it writes from a slice of buffers.

fn write_all(&mut self, buf: &[u8]) -> Result<(), Error>

Attempts to write an entire buffer into this writer.

fn write_fmt(&mut self, fmt: Arguments) -> Result<(), Error>

Writes a formatted string into this writer, returning any error encountered.

fn by_ref(&mut self) -> &mut Self

Creates a "by reference" adaptor for this instance of Write.