Enum odrive_rs::enumerations::AxisState

#[repr(u8)]
pub enum AxisState {
    Undefined,
    Idle,
    StartupSequence,
    FullCalibrationSequence,
    MotorCalibration,
    SensorlessControl,
    EncoderIndexSearch,
    EncoderOffsetCalibration,
    ClosedLoopControl,
}

State Machine

From the official docs:

The current state of an axis is indicated by <axis>.current_state. The user can request a new state by assigning a new value to <axis>.requested_state. The default state after startup is Idle.

1. Idle
2. StartupSequence
3. FullCalibrationSequence
4. MotorCalibration
5. SensorlessControl
6. EncoderIndexSearch
7. EncoderOffsetCalibration
8. ClosedLoopControl

Variants

Undefined

Used for

Idle

Disable motor PWM and do nothing

StartupSequence

Run the startup procedure.

FullCalibrationSequence

Run motor calibration and then encoder offset calibration (or encoder index search if <axis>.encoder.config.use_index is true).

MotorCalibration

Measure phase resistance and phase inductance of the motor.

To store the results set <axis>.motor.config.pre_calibrated to true and save the configuration. After that you don’t have to run the motor calibration on the next start up. This modifies the variables <axis>.motor.config.phase_resistance and <axis>.motor.config.phase_inductance.

SensorlessControl

Run sensorless control.

The motor must be calibrated (<axis>.motor.is_calibrated). <axis>.controller.control_mode must be true.

EncoderIndexSearch

Turn the motor in one direction until the encoder index is traversed.

This state can only be entered if <axis>.encoder.config.use_index is true.

EncoderOffsetCalibration

Turn the motor in one direction for a few seconds and then back to measure the offset between the encoder position and the electrical phase.

Can only be entered if the motor is calibrated (<axis>.motor.is_calibrated). A successful encoder calibration will make the <axis>.encoder.is_ready go to true.

ClosedLoopControl

Run closed loop control.

The action depends on the control mode. Can only be entered if the motor is calibrated (<axis>.motor.is_calibrated) and the encoder is ready (<axis>.encoder.is_ready).

Trait Implementations

impl Clone for AxisState

fn clone(&self) -> AxisState

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for AxisState

impl Eq for AxisState

impl Ord for AxisState

fn cmp(&self, other: &AxisState) -> Ordering

This method returns an Ordering between self and other.

fn max(self, other: Self) -> Self

Compares and returns the maximum of two values.

fn min(self, other: Self) -> Self

Compares and returns the minimum of two values.

fn clamp(self, min: Self, max: Self) -> Self

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

Restrict a value to a certain interval.

impl PartialEq<AxisState> for AxisState

fn eq(&self, other: &AxisState) -> bool

This method tests for self and other values to be equal, and is used by ==.

#[must_use] fn ne(&self, other: &Rhs) -> bool

This method tests for !=.

impl PartialOrd<AxisState> for AxisState

fn partial_cmp(&self, other: &AxisState) -> Option<Ordering>

This method returns an ordering between self and other values if one exists.

#[must_use] fn lt(&self, other: &Rhs) -> bool

This method tests less than (for self and other) and is used by the < operator.

#[must_use] fn le(&self, other: &Rhs) -> bool

This method tests less than or equal to (for self and other) and is used by the <= operator.

#[must_use] fn gt(&self, other: &Rhs) -> bool

This method tests greater than (for self and other) and is used by the > operator.

#[must_use] fn ge(&self, other: &Rhs) -> bool

This method tests greater than or equal to (for self and other) and is used by the >= operator.

impl Debug for AxisState

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

Formats the value using the given formatter.

impl StructuralPartialEq for AxisState

impl StructuralEq for AxisState