Struct EmergencyStopCommand 

pub struct EmergencyStopCommand {
    pub emergency_stop: EmergencyStopAction,
    pub trajectory_command: TrajectoryCommand,
    pub teach_command: TeachCommand,
    pub trajectory_index: u8,
    pub name_index: u16,
    pub crc16: u16,
}

快速急停/轨迹指令 (0x150)

用于快速急停、轨迹控制和拖动示教控制。 注意：在离线轨迹模式下，Byte 3-7 用于轨迹传输（轨迹点索引、NameIndex、CRC16）， 其他模式下这些字段全部填充 0x0。

Fields

emergency_stop: EmergencyStopAction

trajectory_command: TrajectoryCommand

teach_command: TeachCommand

trajectory_index: u8

name_index: u16

crc16: u16

Implementations

impl EmergencyStopCommand

pub fn emergency_stop() -> Self

创建快速急停指令

pub fn resume() -> Self

创建恢复指令

pub fn trajectory_transmit( trajectory_index: u8, name_index: u16, crc16: u16, ) -> Self

创建轨迹传输指令（用于离线轨迹模式）

pub fn to_frame(self) -> PiperFrame

转换为 CAN 帧

Trait Implementations

impl Clone for EmergencyStopCommand

fn clone(&self) -> EmergencyStopCommand

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for EmergencyStopCommand

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

Formats the value using the given formatter.

impl Default for EmergencyStopCommand

fn default() -> EmergencyStopCommand

Returns the “default value” for a type.

impl Copy for EmergencyStopCommand