Struct saberrs::sabertooth2x32::PacketSerial

pub struct PacketSerial<T: SabertoothSerial> { /* fields omitted */ }

Interface using the "Packet Serial" protocol with checksum or CRC.

Methods

impl PacketSerial<SabertoothPort>

pub fn new(port: &str) -> Result<PacketSerial<SabertoothPort>>

Open a serial port and return a new instance of PacketSerial with default settings. By default the address is ADDRESS_DEFAULT and the protection type is PacketType::Checksum.

Example

use saberrs::sabertooth2x32::PacketSerial;
let saber = PacketSerial::new("/dev/ttyUSB0");

impl<T: SabertoothSerial> PacketSerial<T>

pub fn with_address(self, address: u8) -> Self

Set the address of the Sabertooth.

Example

use saberrs::sabertooth2x32::PacketSerial;
let saber = PacketSerial::new("/dev/ttyUSB0")?.with_address(129);

pub fn with_packet_type(self, packet_type: PacketType) -> Self

Set the integrity protection type used for the frames.

Example

use saberrs::sabertooth2x32::{PacketSerial, PacketType};
let saber = PacketSerial::new("/dev/ttyUSB0")?.with_packet_type(PacketType::CRC);

Trait Implementations

impl<T: SabertoothSerial> Sabertooth2x32 for PacketSerial<T>

fn startup(&mut self, channel: usize) -> Result<()>

Returns the motor channel from a shutdown state to normal operation.

fn shutdown(&mut self, channel: usize) -> Result<()>

Shuts off the motor output. Using the shutdown command will put the motor in a hard brake state.

fn set_speed(&mut self, channel: usize, percent: f32) -> Result<()>

Set the speed of the selected motor. channel is 1 or 2, percent is a percentage between -100.0 for full backward and 100.0 for full forward (so 0.0 stops the motor).

fn get_speed(&mut self, channel: usize) -> Result<f32>

Get the current speed of the motor. See set_motor() for the values range.

fn set_drive(&mut self, percent: f32) -> Result<()>

Set the drive. percent is a percentage between -100.0 for full backward and 100.0 for full forward. Note: Both set_drive() and set_turn() must have been set at least once for having an effect.

fn set_turn(&mut self, percent: f32) -> Result<()>

Set the turn value. percent is a percentage between -100.0 for full left and 100.0 for full right. Note: Both set_drive() and set_turn() must have been set at least once for having an effect.

fn set_power(&mut self, channel: usize, percent: f32) -> Result<()>

Set the power output of the selected motor. channel is 1 or 2, and percent is a percentage between -100.0 and 100.0.

fn get_power(&mut self, channel: usize) -> Result<f32>

Return the current power output of the motor. channel is 1 or 2, and the returned value is a percentage between -100.0 and 100.0.

fn set_ramp(&mut self, channel: usize, percent: f32) -> Result<()>

Set the speed ramping of the motor.

fn set_aux(&mut self, channel: usize, percent: f32) -> Result<()>

fn get_voltage(&mut self, channel: usize) -> Result<f32>

Get the battery voltage on the selected motor, in volts.

fn get_current(&mut self, channel: usize) -> Result<f32>

Get the motor current in amperes. Positive current values mean energy is being drawn from the battery, and negative values indicate energy is being regenerated into the battery. Note: this noisy signal may vary by several amps, this is normal.

fn get_temperature(&mut self, channel: usize) -> Result<f32>

Get the temperature of the output transistors for this channel, in degrees celsius.

fn stop_motors(&mut self) -> Result<()>

Stop the motors, ie. set both speeds to zero.

impl From<SabertoothPort> for PacketSerial<SabertoothPort>

fn from(dev: SabertoothPort) -> Self

Performs the conversion.

impl<'_> From<&'_ SabertoothPortShared> for PacketSerial<SabertoothPortShared>

fn from(dev: &SabertoothPortShared) -> Self

Performs the conversion.