Struct MasterSlaveModeCommand 

pub struct MasterSlaveModeCommand {
    pub link_setting: LinkSetting,
    pub feedback_id_offset: FeedbackIdOffset,
    pub control_id_offset: ControlIdOffset,
    pub target_id_offset: ControlIdOffset,
}

随动主从模式设置指令 (0x470)

用于设置机械臂为示教输入臂或运动输出臂，并配置 ID 偏移值。 协议长度：4 字节，但 CAN 帧为 8 字节（后 4 字节保留）。

Fields

link_setting: LinkSetting

feedback_id_offset: FeedbackIdOffset

control_id_offset: ControlIdOffset

target_id_offset: ControlIdOffset

Implementations

impl MasterSlaveModeCommand

pub fn set_teach_input_arm( feedback_id_offset: FeedbackIdOffset, control_id_offset: ControlIdOffset, target_id_offset: ControlIdOffset, ) -> Self

创建设置为示教输入臂的指令

pub fn set_motion_output_arm() -> Self

创建设置为运动输出臂的指令（恢复常规状态）

pub fn to_frame(self) -> PiperFrame

转换为 CAN 帧

Trait Implementations

impl Clone for MasterSlaveModeCommand

fn clone(&self) -> MasterSlaveModeCommand

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for MasterSlaveModeCommand

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

Formats the value using the given formatter.

impl Copy for MasterSlaveModeCommand