Struct Command

pub struct Command<T: Instruction> { /* private fields */ }

A Comamnd is an Instruction with a module address.

It contains everything required to serialize itself into Binary command format.

Implementations

impl<T: Instruction> Command<T>

pub fn new(module_address: u8, instruction: T) -> Command<T>

pub fn module_address(&self) -> u8

Returns the module address

pub fn serialize(&self) -> [u8; 9]

Serialize into binary command format suited for RS232, RS485 etc

The array will look like the following: [MODULE_ADR, CMD_N, TYPE_N, MOTOR_N, VALUE3, VALUE2, VALUE1, VALUE0, CHECKSUM]

pub fn serialize_i2c(&self) -> [u8; 8]

Serialize into binary command format suited for I2C

The array will look like the following: [CMD_N, TYPE_N, MOTOR_N, VALUE3, VALUE2, VALUE1, VALUE0, CHECKSUM]

pub fn serialize_can(&self) -> [u8; 7]

Serialize into binary command format suited for CAN (controller area network)

When using CAN the module address and checksum will be excluded. The array will look like the following: [CMD_N, TYPE_N, MOTOR_N, VALUE3, VALUE2, VALUE1, VALUE0]

Trait Implementations

impl<T: Debug + Instruction> Debug for Command<T>

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

Formats the value using the given formatter.

impl<T: PartialEq + Instruction> PartialEq for Command<T>

fn eq(&self, other: &Command<T>) -> 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<T: Instruction> StructuralPartialEq for Command<T>