Struct JointControl12

Source

pub struct JointControl12 {
    pub j1_deg: i32,
    pub j2_deg: i32,
}

Expand description

机械臂臂部关节控制指令12 (0x155)

用于控制 J1 和 J2 关节的目标角度。单位：0.001°（原始值），可通过 new() 方法从物理量（度）创建。

Fields§

§j1_deg: i32§j2_deg: i32

Implementations§

Source §

impl JointControl12

Source

pub fn new(j1: f64, j2: f64) -> JointControl12

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。

Source

pub fn to_frame(self) -> PiperFrame

转换为 CAN 帧

Trait Implementations§

Source §

impl Clone for JointControl12

Source §

fn clone(&self) -> JointControl12

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

Source §

impl Debug for JointControl12

Source §

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

Formats the value using the given formatter. Read more

Source §

impl Default for JointControl12

Source §

fn default() -> JointControl12

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

Source §

impl Copy for JointControl12

Auto Trait Implementations§

§

impl UnwindSafe for JointControl12

Blanket Implementations§

Source §

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

Source §

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

Source §

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

Source §

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

Source §

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

Source §

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

Mutably borrows from an owned value. Read more

Source §

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

Source §

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

Source §

impl<T> From<T> for T

Source §

fn from(t: T) -> T

Returns the argument unchanged.

Source §

impl<T> Instrument for T

Source §

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

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

Source §

fn in_current_span(self) -> Instrumented<Self>

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

Source §

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

Source §

fn into(self) -> U

Calls U::from(self).

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

Source §

impl<T> IntoEither for T

Source §

fn into_either(self, into_left: bool) -> Either<Self, Self>

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

Source §

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

Source §