Struct GripperControlCommand 

pub struct GripperControlCommand {
    pub travel_mm: i32,
    pub torque_nm: i16,
    pub control_flags: GripperControlFlags,
    pub zero_setting: u8,
}

夹爪控制指令 (0x159)

用于控制夹爪的行程、扭矩、使能状态和零点设置。

• 行程单位：0.001mm（原始值），0值表示完全闭合
• 扭矩单位：0.001N·m（原始值）

Fields

travel_mm: i32

torque_nm: i16

control_flags: GripperControlFlags

zero_setting: u8

Implementations

impl GripperControlCommand

pub fn new(travel_mm: f64, torque_nm: f64, enable: bool) -> Self

从物理量创建夹爪控制指令

pub fn set_zero_point(self) -> Self

设置零点（设置当前为零点）

pub fn clear_error(self) -> Self

清除错误

pub fn to_frame(self) -> PiperFrame

转换为 CAN 帧

Trait Implementations

impl Clone for GripperControlCommand

fn clone(&self) -> GripperControlCommand

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for GripperControlCommand

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

Formats the value using the given formatter.

impl Copy for GripperControlCommand