Enum Command 

pub enum Command {
    Position(f32),
    Velocity(f32),
    Acceleration(f32),
}

A command for a motor to perform: go to a position, run at a velocity, or accelerate at a rate.

Variants

Position(f32)

Where you want to be. This should be in millimeters.

Velocity(f32)

How fast you want to be going. This should be in millimeters per second.

Acceleration(f32)

How fast you want how fast you’re going to change. This should be in millimeters per second squared.

Implementations

impl Command

pub const fn new(position_derivative: PositionDerivative, value: f32) -> Self

Constructor for Command.

Examples found in repository

examples/devices.rs (line 4)

const COMMAND: Command = Command::new(PositionDerivative::Position, 5.0);

pub fn get_position(&self) -> Option<Quantity>

Get the commanded constant position if there is one. If the position derivative is velocity or acceleration, this will return None as there is not a constant position.

pub fn get_velocity(&self) -> Option<Quantity>

Get the commanded constant velocity if there is one. If the position derivative is acceleration, this will return None as there is not a constant velocity. If the position derivative is position, this will return 0 as velocity should be zero with a constant position.

pub fn get_acceleration(&self) -> Quantity

Get the commanded constant acceleration. If the position derivative is not acceleration, this will return 0 as acceleration should be zero with a constant velocity or position.

Trait Implementations

impl Add for Command

type Output = Command

The resulting type after applying the + operator.

fn add(self, rhs: Self) -> Self

Performs the + operation.

impl AddAssign for Command

fn add_assign(&mut self, rhs: Self)

Performs the += operation.

impl Clone for Command

fn clone(&self) -> Command

Returns a duplicate 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 Div<f32> for Command

type Output = Command

The resulting type after applying the / operator.

fn div(self, rhs: f32) -> Self

Performs the / operation.

impl DivAssign<f32> for Command

fn div_assign(&mut self, rhs: f32)

Performs the /= operation.

impl From<Command> for PositionDerivative

fn from(was: Command) -> Self

Converts to this type from the input type.

impl From<Command> for Quantity

fn from(was: Command) -> Self

Converts to this type from the input type.

impl From<Command> for f32

fn from(was: Command) -> f32

Converts to this type from the input type.

impl From<State> for Command

fn from(state: State) -> Self

Converts to this type from the input type.

impl<E: Copy + Debug> Getter<Command, E> for Terminal<'_, E>

fn get(&self) -> Output<Command, E>

Get something.

impl<E: Copy + Debug> History<Command, E> for MotionProfile

fn get(&self, time: Time) -> Option<Datum<Command>>

Get a value at a time.

impl Mul<f32> for Command

type Output = Command

The resulting type after applying the * operator.

fn mul(self, rhs: f32) -> Self

Performs the * operation.

impl MulAssign<f32> for Command

fn mul_assign(&mut self, rhs: f32)

Performs the *= operation.

impl Neg for Command

type Output = Command

The resulting type after applying the - operator.

fn neg(self) -> Self

Performs the unary - operation.

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<G: Getter<State, E> + ?Sized, E: Copy + Debug> Settable<Command, E> for CommandPID<G, E>

fn get_settable_data_ref(&self) -> &SettableData<Command, E>

As traits cannot have fields, get functions and separate types are required. All you have to do is make a field for a corresponding SettableData, make this return an immutable reference to it, and make get_settable_data_mut return a mutable reference to it.

fn get_settable_data_mut(&mut self) -> &mut SettableData<Command, E>

As traits cannot have fields, get functions and separate types are required. All you have to do is make a field for a corresponding SettableData, make this return a mutable reference to it, and make get_settable_data_ref return an immutable reference to it.

fn impl_set(&mut self, command: Command) -> NothingOrError<E>

Set something, not updating the internal SettableData. Due to current limitations of the language, you must implement this but call set. Do not call this directly as it will make get_last_request work incorrectly.

fn set(&mut self, value: S) -> NothingOrError<E>

Set something to a value. For example, this could set a motor to a voltage. You should call this and not impl_set.

fn follow(&mut self, getter: Reference<dyn Getter<S, E>>)

Begin following a Getter of the same type. For this to work, you must have update_following_data in your Updatable implementation.

fn stop_following(&mut self)

Stop following the Getter.

fn update_following_data(&mut self) -> NothingOrError<E>

Get a new value from the Getter we’re following, if there is one, and call set accordingly. You must add this to your Updatable implementation if you are following Getters. This is a current limitation of the Rust language. If specialization is ever stabilized, this will hopefully be done in a better way.

fn get_last_request(&self) -> Option<S>

Get the argument from the last time set was called.

impl Sub for Command

type Output = Command

The resulting type after applying the - operator.

fn sub(self, rhs: Self) -> Self

Performs the - operation.

impl SubAssign for Command

fn sub_assign(&mut self, rhs: Self)

Performs the -= operation.

impl TryFrom<Quantity> for Command

type Error = ()

The type returned in the event of a conversion error.

fn try_from(was: Quantity) -> Result<Self, ()>

Performs the conversion.

impl Copy for Command

impl StructuralPartialEq for Command