Struct MotorLimitFeedback

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pub struct MotorLimitFeedback {
    pub joint_index: u8,
    pub max_angle_deg: i16,
    pub min_angle_deg: i16,
    pub max_velocity_rad_s: u16,
}

Expand description

反馈当前电机限制角度/最大速度 (0x473)

单位：

角度限制：0.1°（原始值）
最大关节速度：0.01rad/s（原始值）

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§joint_index: u8§max_angle_deg: i16§min_angle_deg: i16§max_velocity_rad_s: u16

Implementations§

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impl MotorLimitFeedback

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pub fn max_angle(&self) -> f64

获取最大角度（度）

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pub fn min_angle(&self) -> f64

获取最小角度（度）

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pub fn max_velocity(&self) -> f64

获取最大速度（rad/s）

Trait Implementations§

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impl Clone for MotorLimitFeedback

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fn clone(&self) -> MotorLimitFeedback

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 MotorLimitFeedback

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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 MotorLimitFeedback

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fn default() -> MotorLimitFeedback

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

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impl TryFrom<PiperFrame> for MotorLimitFeedback

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type Error = ProtocolError

The type returned in the event of a conversion error.

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fn try_from( frame: PiperFrame, ) -> Result<MotorLimitFeedback, <MotorLimitFeedback as TryFrom<PiperFrame>>::Error>

Performs the conversion.

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impl Copy for MotorLimitFeedback

Auto Trait Implementations§

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impl UnwindSafe for MotorLimitFeedback

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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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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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

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

Mutably borrows from an owned value. Read more

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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>

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

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

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fn into(self) -> U

Calls U::from(self).

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

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impl<T> IntoEither for T

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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

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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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