Struct JointDriverLowSpeedFeedback 

pub struct JointDriverLowSpeedFeedback {
    pub joint_index: u8,
    pub voltage: u16,
    pub driver_temp: i16,
    pub motor_temp: i8,
    pub status: DriverStatus,
    pub bus_current: u16,
}

关节驱动器低速反馈 (0x261~0x266)

包含电压、温度、驱动器状态和母线电流反馈。

• 电压单位：0.1V（原始值）
• 温度单位：1℃（原始值）
• 电流单位：0.001A（原始值）

Fields

joint_index: u8

voltage: u16

driver_temp: i16

motor_temp: i8

status: DriverStatus

bus_current: u16

Implementations

impl JointDriverLowSpeedFeedback

pub fn voltage_raw(&self) -> u16

获取电压原始值（0.1V 单位）

pub fn driver_temp_raw(&self) -> i16

获取驱动器温度原始值（1℃ 单位）

pub fn motor_temp_raw(&self) -> i8

获取电机温度原始值（1℃ 单位）

pub fn bus_current_raw(&self) -> u16

获取母线电流原始值（0.001A 单位）

pub fn voltage(&self) -> f64

获取电压（V）

pub fn driver_temp(&self) -> f64

获取驱动器温度（℃）

pub fn motor_temp(&self) -> f64

获取电机温度（℃）

pub fn bus_current(&self) -> f64

获取母线电流（A）

Trait Implementations

impl Clone for JointDriverLowSpeedFeedback

fn clone(&self) -> JointDriverLowSpeedFeedback

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for JointDriverLowSpeedFeedback

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

Formats the value using the given formatter.

impl Default for JointDriverLowSpeedFeedback

fn default() -> JointDriverLowSpeedFeedback

Returns the “default value” for a type.

impl TryFrom<PiperFrame> for JointDriverLowSpeedFeedback

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl Copy for JointDriverLowSpeedFeedback