Struct MitModeConfig

Source

pub struct MitModeConfig {
    pub timeout: Duration,
    pub debounce_threshold: usize,
    pub poll_interval: Duration,
    pub speed_percent: u8,
}

Expand description

MIT 模式配置（带 Debounce 参数）

Fields§

§timeout: Duration

使能超时

§debounce_threshold: usize

Debounce 阈值：连续 N 次读到 Enabled 才认为成功

§poll_interval: Duration

轮询间隔

§speed_percent: u8

运动速度百分比（0-100）

用于设置 0x151 指令的 Byte 2（speed_percent）。默认值为 100，表示 100% 的运动速度。重要：不应设为 0，否则某些固件版本可能会锁死关节或报错。虽然在纯 MIT 模式下（0x15A-0x15F），速度通常由控制指令本身携带，但在发送 0x151 切换模式时，speed_percent 可能会作为安全限速或预设速度生效。

MitModeConfig

Struct MitModeConfig Copy item path

Fields§

Trait Implementations§

impl Clone for MitModeConfig

fn clone(&self) -> MitModeConfig

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

impl Debug for MitModeConfig

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

impl Default for MitModeConfig

fn default() -> Self

Auto Trait Implementations§

impl Freeze for MitModeConfig

impl RefUnwindSafe for MitModeConfig

impl Send for MitModeConfig

impl Sync for MitModeConfig

impl Unpin for MitModeConfig

impl UnwindSafe for MitModeConfig

Blanket Implementations§

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

fn type_id(&self) -> TypeId

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

fn borrow(&self) -> &T

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

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

impl<T> CloneToUninit for Twhere T: Clone,

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

impl<T> From<T> for T

fn from(t: T) -> T

impl<T> Instrument for T

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

fn in_current_span(self) -> Instrumented<Self>

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

fn into(self) -> U

impl<T> IntoEither for T

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

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

impl<T> ToOwned for Twhere T: Clone,

type Owned = T

fn to_owned(&self) -> T

fn clone_into(&self, target: &mut T)

impl<T, U> TryFrom<U> for Twhere U: Into<T>,

type Error = Infallible

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

impl<T, U> TryInto<U> for Twhere U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

impl<T> WithSubscriber for T

fn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self>where S: Into<Dispatch>,

fn with_current_subscriber(self) -> WithDispatch<Self>

Struct MitModeConfig

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

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

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

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

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

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

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

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

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

fn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self>
where S: Into<Dispatch>,