Trait guppy_controller::arm_driver::ArmDriver

source · 
pub trait ArmDriver: Send + Sync {
    // Required methods
    fn set_color<'life0, 'async_trait>(
        &'life0 mut self,
        color: LedColor
    ) -> Pin<Box<dyn Future<Output = Result<(), DriverError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
    fn setup_motors<'life0, 'async_trait>(
        &'life0 mut self,
        settings: ArmControlSettings
    ) -> Pin<Box<dyn Future<Output = Result<(), DriverError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
    fn load_motor_settings<'life0, 'async_trait>(
        &'life0 mut self
    ) -> Pin<Box<dyn Future<Output = Result<ArmControlSettings, DriverError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
    fn halt<'life0, 'async_trait>(
        &'life0 mut self
    ) -> Pin<Box<dyn Future<Output = Result<(), DriverError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
    fn limp<'life0, 'async_trait>(
        &'life0 mut self
    ) -> Pin<Box<dyn Future<Output = Result<(), DriverError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
    fn move_to<'life0, 'async_trait>(
        &'life0 mut self,
        position: JointPositions
    ) -> Pin<Box<dyn Future<Output = Result<(), DriverError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
    fn move_to_timed<'life0, 'async_trait>(
        &'life0 mut self,
        position: JointPositions,
        duration: Duration
    ) -> Pin<Box<dyn Future<Output = Result<(), DriverError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
    fn read_position<'life0, 'async_trait>(
        &'life0 mut self
    ) -> Pin<Box<dyn Future<Output = Result<JointPositions, DriverError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
    fn move_gripper<'life0, 'async_trait>(
        &'life0 mut self,
        closed: f32,
        current_limit: u32,
        duration: Duration
    ) -> Pin<Box<dyn Future<Output = Result<(), DriverError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
    fn query_motor_status<'life0, 'async_trait>(
        &'life0 mut self
    ) -> Pin<Box<dyn Future<Output = Result<ArmMotorStatus, DriverError>> + Send + 'async_trait>>
       where Self: 'async_trait,
             'life0: 'async_trait;
}

Required Methods§

source

fn set_color<'life0, 'async_trait>( &'life0 mut self, color: LedColor ) -> Pin<Box<dyn Future<Output = Result<(), DriverError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

source

fn setup_motors<'life0, 'async_trait>( &'life0 mut self, settings: ArmControlSettings ) -> Pin<Box<dyn Future<Output = Result<(), DriverError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

source

fn load_motor_settings<'life0, 'async_trait>( &'life0 mut self ) -> Pin<Box<dyn Future<Output = Result<ArmControlSettings, DriverError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

source

fn halt<'life0, 'async_trait>( &'life0 mut self ) -> Pin<Box<dyn Future<Output = Result<(), DriverError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

source

fn limp<'life0, 'async_trait>( &'life0 mut self ) -> Pin<Box<dyn Future<Output = Result<(), DriverError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

source

fn move_to<'life0, 'async_trait>( &'life0 mut self, position: JointPositions ) -> Pin<Box<dyn Future<Output = Result<(), DriverError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

source

fn move_to_timed<'life0, 'async_trait>( &'life0 mut self, position: JointPositions, duration: Duration ) -> Pin<Box<dyn Future<Output = Result<(), DriverError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

source

fn read_position<'life0, 'async_trait>( &'life0 mut self ) -> Pin<Box<dyn Future<Output = Result<JointPositions, DriverError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

source

fn move_gripper<'life0, 'async_trait>( &'life0 mut self, closed: f32, current_limit: u32, duration: Duration ) -> Pin<Box<dyn Future<Output = Result<(), DriverError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

0.0 is fully open 1.0 is fully closed

source

fn query_motor_status<'life0, 'async_trait>( &'life0 mut self ) -> Pin<Box<dyn Future<Output = Result<ArmMotorStatus, DriverError>> + Send + 'async_trait>>where Self: 'async_trait, 'life0: 'async_trait,

Implementors§