mc_core

Enum Joint

Source 
pub enum Joint {
    Simple {
        id: usize,
        params: ServoParams,
        state: ServoState,
        axis: UrdfAxis,
    },
    Face {
        id: usize,
        params: ServoParams,
        state: ServoState,
        axis: NormalizedAxis,
    },
    Complex {
        id_a: usize,
        id_b: usize,
        params: ServoParams,
        state_a: ServoState,
        state_b: ServoState,
        axis_theta: UrdfAxis,
        axis_phi: UrdfAxis,
    },
    KneesHips {
        id_knee0: usize,
        id_knee1: usize,
        id_hip0: usize,
        id_hip1: usize,
        params: ServoParams,
        state_knee0: ServoState,
        state_knee1: ServoState,
        state_hip0: ServoState,
        state_hip1: ServoState,
        pid: Pid,
        axis: UrdfAxis,
        hips_name: String,
    },
}
Expand description

simple, face, complex or knees/hips joint

Variants§

§

Simple

simple joint, one URDF axis corresponds to one servo

Fields

§id: usize
§params: ServoParams
§state: ServoState
§axis: UrdfAxis
§

Face

face joint, one normalized axis corresponds to one servo

§

Complex

complex joint, two URDF axes correspond to two servos, as described by the unified arm assemblies

Fields

§id_a: usize
§id_b: usize
§params: ServoParams
§state_a: ServoState
§state_b: ServoState
§axis_theta: UrdfAxis
§axis_phi: UrdfAxis
§

KneesHips

knees/hips joint, one URDF axis corresponds to all four knee and hip servos, controlled via a PID controller

Fields

§id_knee0: usize
§id_knee1: usize
§id_hip0: usize
§id_hip1: usize
§params: ServoParams
§state_knee0: ServoState
§state_knee1: ServoState
§state_hip0: ServoState
§state_hip1: ServoState
§pid: Pid
§axis: UrdfAxis
§hips_name: String

Implementations§

Source§

impl Joint

Source

pub fn new_simple( name: &str, id: usize, ratio: f32, urdf_anchor: f32, min_voltage: f32, max_voltage: f32, max_temperature: f32, ) -> Self

Create new simple joint.

§Arguments
  • name - name of the axis
  • id - servo ID
  • ratio - angle ratio of external gear or belt assembly
  • urdf_anchor - calibration anchor of the axis
  • min_voltage - minimum voltage
  • max_voltage - maximum voltage
  • max_temperature - maximum temperature
Source

pub fn new_face( name: &str, id: usize, min_voltage: f32, max_voltage: f32, max_temperature: f32, ) -> Self

Create new face joint.

§Arguments
  • name - name of the axis
  • id - servo ID
  • min_voltage - minimum voltage
  • max_voltage - maximum voltage
  • max_temperature - maximum temperature
Source

pub fn new_complex( name_theta: &str, name_phi: &str, id_a: usize, id_b: usize, ratio: f32, urdf_anchor_theta: f32, urdf_anchor_phi: f32, min_voltage: f32, max_voltage: f32, max_temperature: f32, ) -> Self

Create new complex joint.

§Arguments
  • name_theta - name of the theta axis
  • name_phi - name of the phi axis
  • id_a - ID of servo A
  • id_b - ID of servo B
  • ratio - angle ratio of external gear or belt assembly
  • urdf_anchor_theta - calibration anchor of the theta axis
  • urdf_anchor_phi - calibration anchor of the phi axis
  • min_voltage - minimum voltage
  • max_voltage - maximum voltage
  • max_temperature - maximum temperature
Source

pub fn new_knees_hips( knees_name: &str, hips_name: &str, id_knee0: usize, id_knee1: usize, id_hip0: usize, id_hip1: usize, ratio: f32, urdf_anchor: f32, min_voltage: f32, max_voltage: f32, max_temperature: f32, ) -> Self

Create new knees/hips joint.

§Arguments
  • knees_name - name of the knees axis
  • hips_name - name of the hips axis
  • id_knee0 - ID of servo knee0
  • id_knee1 - ID of servo knee1
  • id_hip0 - ID of servo hip0
  • id_hip1 - ID of servo hip1
  • ratio - angle ratio of external gear or belt assembly
  • urdf_anchor - calibration anchor of the axis
  • min_voltage - minimum voltage
  • max_voltage - maximum voltage
  • max_temperature - maximum temperature
Source

pub fn add_to_bus(&self, bus: &mut ServoBus)

Add the joint to a servo bus.

§Arguments
  • bus - servo bus
Source

pub fn update(&mut self, bus: &mut ServoBus, torque: bool)

Update the joint.

§Arguments
  • bus - servo bus
  • torque - whether to enable torque
Source

pub fn has_id(&self, id: usize) -> bool

Check if the joint manages a given servo ID.

§Arguments
  • id - servo ID
Source

pub fn has_axis(&self, axis_name: &str) -> bool

Check if the joint manages a given axis.

§Arguments
  • axis_name - name of the axis
Source

pub fn to_bson(&self) -> Bson

Convert the joint to a BSON document.

Source

pub fn push_axis_names(&self, axis_names: &mut Vec<String>)

Push the names of the axes managed by the joint to a vector.

§Arguments
  • axis_names - vector to push the axis names to
Source

pub fn push_axis_positions(&self, axis_positions: &mut Vec<f64>)

Push the positions of the axes managed by the joint to a vector

§Arguments
  • axis_positions - vector to push the axis positions to
Source

pub fn push_axis_goals(&self, axis_goals: &mut Vec<f64>)

Push the goals of the axes managed by the joint to a vector.

§Arguments
  • axis_goals - vector to push the axis goals to

Trait Implementations§

Source§

impl Debug for Joint

Source§

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

Formats the value using the given formatter. Read more

Auto Trait Implementations§

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impl Freeze for Joint

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impl RefUnwindSafe for Joint

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impl Send for Joint

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impl Sync for Joint

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impl Unpin for Joint

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impl UnwindSafe for Joint

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