Enum 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

speed: u16

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

MotorRev

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

Fields

speed: u16

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

MotorFwd7bit

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

Fields

speed: u8

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

MotorRev7bit

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

Fields

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

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

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

fn clone(&self) -> Command

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Command

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

Formats the value using the given formatter.

impl Hash for Command

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

Feeds this value into the given Hasher.

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

where H: Hasher, Self: Sized,

Feeds a slice of this type into the given Hasher.

impl Ord for Command

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

This method returns an Ordering between self and other.

fn max(self, other: Self) -> Self

where Self: Sized,

Compares and returns the maximum of two values.

fn min(self, other: Self) -> Self

where Self: Sized,

Compares and returns the minimum of two values.

fn clamp(self, min: Self, max: Self) -> Self

where Self: Sized,

Restrict a value to a certain interval.

impl PartialEq for Command

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

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl PartialOrd for Command

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

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

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

Tests less than (for self and other) and is used by the < operator.

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

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

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

Tests greater than (for self and other) and is used by the > operator.

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

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

impl Copy for Command

impl Eq for Command

impl StructuralPartialEq for Command