Struct ControlModeCommandFrame

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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。

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

Implementations§

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impl ControlModeCommandFrame

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pub fn mode_switch(control_mode: ControlModeCommand) -> ControlModeCommandFrame

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。

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

创建完整的控制指令（包含所有参数）

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pub fn to_frame(self) -> PiperFrame

转换为 CAN 帧

Trait Implementations§

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impl Clone for ControlModeCommandFrame

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fn clone(&self) -> ControlModeCommandFrame

Returns a duplicate of the value. Read more

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

Performs copy-assignment from source. Read more

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impl Debug for ControlModeCommandFrame

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

Formats the value using the given formatter. Read more

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impl Default for ControlModeCommandFrame

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fn default() -> ControlModeCommandFrame

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

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impl Copy for ControlModeCommandFrame

Auto Trait Implementations§

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impl UnwindSafe for ControlModeCommandFrame

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

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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

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

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

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

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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

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T> Instrument for T

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fn instrument(self, span: Span) -> Instrumented<Self>

Instruments this type with the provided Span, returning an Instrumented wrapper. Read more

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fn in_current_span(self) -> Instrumented<Self>

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where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

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Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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