Struct MitControllerConfig

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pub struct MitControllerConfig {
    pub kp_gains: [f64; 6],
    pub kd_gains: [f64; 6],
    pub rest_position: Option<[Rad; 6]>,
    pub control_rate: f64,
}

Expand description

MIT 控制器配置

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§kp_gains: [f64; 6]

PD 控制器 Kp 增益（每个关节独立）

单位：Nm/rad 典型值：3.0 - 10.0

§kd_gains: [f64; 6]

PD 控制器 Kd 增益（每个关节独立）

单位：Nm/(rad/s) 典型值：0.3 - 1.5

§rest_position: Option<[Rad; 6]>

休息位置（Drop 时自动移动到此位置）

None 表示不自动移动（仅失能）

§control_rate: f64

控制循环频率（Hz）

使用绝对时间锚点机制，实际频率将精确锁定在此值。推荐值：200.0 Hz（与固件更新频率一致）

Trait Implementations§

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impl Clone for MitControllerConfig

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fn clone(&self) -> MitControllerConfig

Returns a duplicate of the value. Read more

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

Performs copy-assignment from source. Read more

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impl Debug for MitControllerConfig

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

Formats the value using the given formatter. Read more

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impl Default for MitControllerConfig

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fn default() -> Self

Returns the “default value” for a type. Read more

Auto Trait Implementations§

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impl UnwindSafe for MitControllerConfig

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

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

Performs copy-assignment from self to dest. Read more

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T> Instrument for T

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fn instrument(self, span: Span) -> Instrumented<Self>

Instruments this type with the provided Span, returning an Instrumented wrapper. Read more

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fn in_current_span(self) -> Instrumented<Self>

Instruments this type with the current Span, returning an Instrumented wrapper. Read more

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impl<T, U> Into for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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fn into_either(self, into_left: bool) -> Either<Self, Self>

Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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