Struct JointSettingCommand 

pub struct JointSettingCommand {
    pub joint_index: u8,
    pub set_zero_point: bool,
    pub accel_param_enable: bool,
    pub max_accel_rad_s2: Option<u16>,
    pub clear_error: bool,
}

关节设置指令 (0x475)

用于设置关节的零点、加速度参数和清除错误代码。 单位：

• 最大关节加速度：0.01rad/s²（原始值），无效值：0x7FFF 特殊值：
• 0xAE: 表示设置生效/清除错误

Fields

joint_index: u8

set_zero_point: bool

accel_param_enable: bool

max_accel_rad_s2: Option<u16>

clear_error: bool

Implementations

impl JointSettingCommand

pub fn set_zero_point(joint_index: u8) -> Self

创建设置零点指令

pub fn set_acceleration(joint_index: u8, max_accel: f64) -> Self

创建设置加速度参数指令

pub fn clear_error(joint_index: u8) -> Self

创建清除错误指令

pub fn to_frame(self) -> PiperFrame

转换为 CAN 帧

Trait Implementations

impl Clone for JointSettingCommand

fn clone(&self) -> JointSettingCommand

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for JointSettingCommand

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

Formats the value using the given formatter.

impl Copy for JointSettingCommand