Enum pololu_smc::command::Command

pub enum Command {
    ExitSafeStart,
    MotorFwd {
        speed: u16,
    },
    MotorRev {
        speed: u16,
    },
    MotorFwd7bit {
        speed: u8,
    },
    MotorRev7bit {
        speed: u8,
    },
    MotorBrake {
        brake_amount: u8,
    },
    SetCurrentLimit {
        value: u16,
    },
    StopMotor,
}

Representations of the commands that can be sent to the controller.

These only contain the commands which do not provide any response, which can thus be used in [SimpleMotorController::send_command]. There are some additional commands available that do provide a response. These are handled separately by the methods [SimpleMotorController::set_motor_limit] and [SimpleMotorController::get_firmware_version].

Variants

ExitSafeStart

If safe-start protection is enabled, this command is required before the motor can run.

MotorFwd

Sets the full-resolution motor target speed in the forward direction.

Fields of MotorFwd

speed: u16

Target speed, 0 (motor stopped) to 3200 (full speed).

MotorRev

Sets the full-resolution motor target speed in the reverse direction.

Fields of MotorRev

speed: u16

Target speed, 0 (motor stopped) to 3200 (full speed).

MotorFwd7bit

Sets the low-resolution motor target speed in the forward direction.

Fields of MotorFwd7bit

speed: u8

Target speed, 0 (motor stopped) to 127 (full speed).

MotorRev7bit

Sets the low-resolution motor target speed in the reverse direction.

Fields of MotorRev7bit

speed: u8

Target speed, 0 (motor stopped) to 127 (full speed).

MotorBrake

Causes the motor to immediately brake or coast (configured deceleration limits are ignored).

Fields of MotorBrake

brake_amount: u8

The amount of braking action. 0 (coasting) to 32.

SetCurrentLimit

This command lets you change the hardware current limit temporarily until the next reset.

Fields of SetCurrentLimit

value: u16

The current limit in internal units. See section 5.2 in the official user's guide for instructions on how to convert mA into these internal units.

StopMotor

Sets the motor target speed to zero, stopping the motor respecting the configured deceleration limits. This also makes the controller susceptible to a safe-start violation error is safe-start is enabled.

Trait Implementations

impl Clone for Command

pub fn clone(&self) -> Command

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for Command

impl Debug for Command

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

Formats the value using the given formatter.

impl Eq for Command

impl Hash for Command

pub fn hash<__H: Hasher>(&self, state: &mut __H)

Feeds this value into the given Hasher.

pub fn hash_slice<H>(data: &[Self], state: &mut H) where
    H: Hasher, 

Feeds a slice of this type into the given Hasher.

impl Ord for Command

pub fn cmp(&self, other: &Command) -> Ordering

This method returns an Ordering between self and other.

#[must_use]pub fn max(self, other: Self) -> Self

Compares and returns the maximum of two values.

#[must_use]pub fn min(self, other: Self) -> Self

Compares and returns the minimum of two values.

#[must_use]pub fn clamp(self, min: Self, max: Self) -> Self

Restrict a value to a certain interval.

impl PartialEq<Command> for Command

pub fn eq(&self, other: &Command) -> bool

This method tests for self and other values to be equal, and is used by ==.

pub fn ne(&self, other: &Command) -> bool

This method tests for !=.

impl PartialOrd<Command> for Command

pub fn partial_cmp(&self, other: &Command) -> Option<Ordering>

This method returns an ordering between self and other values if one exists.

pub fn lt(&self, other: &Command) -> bool

This method tests less than (for self and other) and is used by the < operator.

pub fn le(&self, other: &Command) -> bool

This method tests less than or equal to (for self and other) and is used by the <= operator.

pub fn gt(&self, other: &Command) -> bool

This method tests greater than (for self and other) and is used by the > operator.

pub fn ge(&self, other: &Command) -> bool

This method tests greater than or equal to (for self and other) and is used by the >= operator.

impl StructuralEq for Command

impl StructuralPartialEq for Command