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ControlModeCommandFrame

piper_protocol::control

Struct ControlModeCommandFrame

pub struct ControlModeCommandFrame {
    pub control_mode: ControlModeCommand,
    pub move_mode: MoveMode,
    pub speed_percent: u8,
    pub mit_mode: MitMode,
    pub trajectory_stay_time: u8,
    pub install_position: InstallPosition,
}

Expand description

控制模式指令 (0x151)

用于切换机械臂的控制模式、MOVE 模式、运动速度等参数。

Fields§

§control_mode: ControlModeCommand§move_mode: MoveMode§speed_percent: u8§mit_mode: MitMode§trajectory_stay_time: u8§install_position: InstallPosition

Implementations§

impl ControlModeCommandFrame

pub fn mode_switch(control_mode: ControlModeCommand) -> Self

创建模式切换指令（仅切换控制模式，其他字段填充 0x0）

用于快速切换控制模式，其他参数使用默认值。

pub fn new( control_mode: ControlModeCommand, move_mode: MoveMode, speed_percent: u8, mit_mode: MitMode, trajectory_stay_time: u8, install_position: InstallPosition, ) -> Self

创建完整的控制指令（包含所有参数）

pub fn to_frame(self) -> PiperFrame

转换为 CAN 帧

Trait Implementations§

impl Clone for ControlModeCommandFrame

fn clone(&self) -> ControlModeCommandFrame

Returns a duplicate of the value. Read more

1.0.0 · Source§

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

Performs copy-assignment from source. Read more

impl Debug for ControlModeCommandFrame

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

Formats the value using the given formatter. Read more

impl Default for ControlModeCommandFrame

fn default() -> ControlModeCommandFrame

Returns the “default value” for a type. Read more

impl Copy for ControlModeCommandFrame

Auto Trait Implementations§

impl Freeze for ControlModeCommandFrame

impl RefUnwindSafe for ControlModeCommandFrame

impl Send for ControlModeCommandFrame

impl Sync for ControlModeCommandFrame

impl Unpin for ControlModeCommandFrame

impl UnwindSafe for ControlModeCommandFrame

Blanket Implementations§

impl<T> Any for T
where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<T> CloneToUninit for T
where T: Clone,

unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

impl<T, U> Into<U> for T
where U: From<T>,

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> ToOwned for T
where T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> TryFrom<U> for T
where U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.