Struct MasterSlaveGripperControlState

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pub struct MasterSlaveGripperControlState {
    pub hardware_timestamp_us: u64,
    pub system_timestamp_us: u64,
    pub gripper_target_travel_mm: i32,
    pub gripper_target_torque_nm: i16,
    pub gripper_status_code: u8,
    pub gripper_set_zero: u8,
    pub is_valid: bool,
}

Expand description

主从模式夹爪控制指令状态

更新频率：~200Hz（取决于主臂发送频率） CAN ID：0x159 同步机制：ArcSwap（温数据，高频访问）

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§hardware_timestamp_us: u64

硬件时间戳（微秒）

§system_timestamp_us: u64

系统接收时间戳（微秒）

§gripper_target_travel_mm: i32

夹爪目标行程（mm，0.001mm单位）

§gripper_target_torque_nm: i16

夹爪目标扭矩（N·m，0.001N·m单位）

§gripper_status_code: u8

夹爪状态码

§gripper_set_zero: u8

夹爪回零设置

§is_valid: bool

是否有效（已收到至少一帧）

Implementations§

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impl MasterSlaveGripperControlState

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pub fn gripper_target_travel(&self) -> f64

获取夹爪目标行程（mm）

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pub fn gripper_target_torque(&self) -> f64

获取夹爪目标扭矩（N·m）

Trait Implementations§

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impl Clone for MasterSlaveGripperControlState

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fn clone(&self) -> MasterSlaveGripperControlState

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 MasterSlaveGripperControlState

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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 MasterSlaveGripperControlState

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fn default() -> MasterSlaveGripperControlState

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

Auto Trait Implementations§

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impl UnwindSafe for MasterSlaveGripperControlState

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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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impl<T> IntoEither for T

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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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