Struct guppy_controller::arm_driver::ServoControlSettings

pub struct ServoControlSettings {
    pub motion_profile: Option<bool>,
    pub angular_holding_stiffness: Option<i32>,
    pub angular_stiffness: Option<i32>,
    pub filter_position_count: Option<u8>,
    pub maximum_motor_duty: Option<u32>,
    pub angular_acceleration: Option<i32>,
    pub angular_deceleration: Option<i32>,
    pub maximum_speed_degrees: Option<u32>,
}

Fields

motion_profile: Option<bool>

Settings for servo in arm

angular_holding_stiffness: Option<i32>

useful for non interpolated mode

angular_stiffness: Option<i32>

-10 to 10, usually -4 to 4

filter_position_count: Option<u8>

-10 to 10, usually -4 to 4

maximum_motor_duty: Option<u32>

I don’t know how this works

angular_acceleration: Option<i32>

useful for compliance, 255 to 1023

angular_deceleration: Option<i32>

only when motion_profile is on

maximum_speed_degrees: Option<u32>

only when motion_profile is on

Implementations

impl ServoControlSettings

pub fn new( motion_profile: Option<bool>, angular_holding_stiffness: Option<i32>, angular_stiffness: Option<i32>, filter_position_count: Option<u8>, maximum_motor_duty: Option<u32>, angular_acceleration: Option<i32>, angular_deceleration: Option<i32>, maximum_speed_degrees: Option<u32> ) -> ServoControlSettings

Trait Implementations

impl Clone for ServoControlSettings

fn clone(&self) -> ServoControlSettings

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for ServoControlSettings

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

Formats the value using the given formatter.

impl Default for ServoControlSettings

fn default() -> ServoControlSettings

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for ServoControlSettings

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq<ServoControlSettings> for ServoControlSettings

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

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

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

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

impl Serialize for ServoControlSettings

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for ServoControlSettings