Struct JointControl56 

pub struct JointControl56 {
    pub j5_deg: i32,
    pub j6_deg: i32,
}

机械臂腕部关节控制指令56 (0x157)

用于控制 J5 和 J6 关节的目标角度。

Fields

j5_deg: i32

j6_deg: i32

Implementations

impl JointControl56

pub fn new(j5: f64, j6: f64) -> Self

从物理量（度）创建关节控制指令

注意：使用 round() 进行四舍五入，与 Python SDK 保持一致。 Python SDK 使用 round(pos_deg * 1e3) 进行转换。

pub fn to_frame(self) -> PiperFrame

转换为 CAN 帧

Trait Implementations

impl Clone for JointControl56

fn clone(&self) -> JointControl56

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for JointControl56

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

Formats the value using the given formatter.

impl Default for JointControl56

fn default() -> JointControl56

Returns the “default value” for a type.

impl Copy for JointControl56